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Motoman DX100 User Manual

Motoman DX100
270 pages
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1 Table of Basic Instructions..................................5
1.1 Move Instructions......................................................................................5
1.2 I/O Instructions..........................................................................................8
1.3 Control Instructions................................................................................10
1.4 Shift Instructions.....................................................................................12
1.5 Operating Instructions............................................................................13
2 Teaching..............................................................21
2.1 Preparation for Teaching........................................................................21
2.1.1 Checking Emergency Stop Buttons............................................................................... 21
2.1.2 Setting the Teach Lock.................................................................................................. 21
2.1.3 Registering a Job........................................................................................................... 21
2.1.4 Registering Jobs............................................................................................................ 22
2.1.5 Registering Comments .................................................................................................. 23
2.1.6 Registering Control Groups ........................................................................................... 23
2.1.7 Switching to the Teaching Window................................................................................ 23
2.2 Teaching Operation.................................................................................24
2.2.1 Teaching Window .......................................................................................................... 24
2.2.2 Interpolation Type and Play Speed ............................................................................... 25
2.2.3 Joint Interpolation .......................................................................................................... 25
2.2.4 Linear Interpolation........................................................................................................ 25
2.2.5 Circular Interpolation .....................................................................................................26
2.2.6 Spline Interpolation........................................................................................................ 28
2.2.7 Teaching Steps.............................................................................................................. 29
2.2.8 Overlapping the First and Last Steps ............................................................................ 39
2.3 Checking Steps........................................................................................39
2.3.1 FWD/BWD Key Operations ........................................................................................... 39
2.4 Modifying Steps.......................................................................................45
2.4.1 Displaying the JOB CONTENT Window for Editing....................................................... 48
2.4.2 Inserting Move Instructions............................................................................................ 49
2.4.3 Deleting Move Instructions ............................................................................................ 51
2.4.4 Modifying Move Instructions .......................................................................................... 52
2.4.5 Undo Operation .............................................................................................................53
2.4.6 Modifying Reference Point Instructions ......................................................................... 53
2.4.7 Modifying Timer Instructions.......................................................................................... 54
2.5 Modifying Jobs ........................................................................................55
2.5.1 Calling Up a Job ............................................................................................................ 55
2.5.2 Windows Related to Job................................................................................................ 55
2.5.3 JOB HEADER Window.................................................................................................. 56
2.5.4 JOB CONTENT Window ............................................................................................... 57
2.5.5 JOB CAPACITY Window............................................................................................... 58

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Motoman DX100 Specifications

General IconGeneral
ModelDX100
Protection ClassIP20
ManufacturerYaskawa
InterfaceEthernet
MountingFloor
Control MethodDigital servo control
Programming MethodTeach pendant
Humidity20% to 80% RH (non-condensing)

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