3-18
155507-1CD
RE-CSO-A037
DX100
3 Teaching
3.2 Teaching Operation
3.2.3.2 Registering Reference Point Instructions
Reference point instructions (REFP) set an auxiliary point such as a wall
point for weaving. Reference point Nos. 1 to 8 are assigned for each
application. Follow these procedures to register reference point
instructions.
1. Select {JOB} under the main menu.
2. Select {JOB}.
3. Move the cursor.
– Move the cursor to the line immediately before the position where
the reference point to be registered.
4. Grip the Enable switch.
– The servo power is turned ON.
5. Press the axis operation key.
– Move the manipulator to the position to be registered as the
reference point.
6. Press [REFP] or select “REFP” from the inform list.
– The reference point instruction is displayed in the input buffer line.
7. Change the reference point number in one of the following ways.
– Move the cursor to the reference point number, and press [SHIFT] +
the cursor key to change the reference point number; or
– Press [SELECT] when the cursor is on the reference point number.
Then, the data input buffer line appears. Input the number and
press [ENTER].
8. Press [INSERT].
– The [INSERT] key lamp lights.
When registering before the END instruction, pressing [INSERT] is
not needed.
9. Press [ENTER].
– The REFP instruction is registered.
The programming pendant does not have the [REFP] key for
the application of spot welding, motor gun, and of material
handling, assembling, and cutting.
Place immediately
before where
reference point is
to be registered.
Reference point
is registered.
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