YASKAWA DX100 Operator's Manual

Table of Contents
xvi
155507-1CD
RE-CSO-A037
DX100
3.6 Editing Instructions...........................................................................................................3-50
3.6.1 Instruction Group ................................................................................................ 3-51
3.6.2 Inserting Instructions........................................................................................... 3-52
3.6.3 Deleting Instructions ........................................................................................... 3-55
3.6.4 Modifying Instructions ......................................................................................... 3-55
3.6.5 Modifying Additional Numeric Data..................................................................... 3-59
3.6.6 Modifying Additional Items.................................................................................. 3-60
3.6.7 Inserting Additional Items ................................................................................... 3-61
3.6.8 Deleting Additional Items .................................................................................... 3-63
3.7 Editing Jobs ..................................................................................................................... 3-64
3.7.1 Selecting the Range ........................................................................................... 3-66
3.7.2 Copying .............................................................................................................. 3-67
3.7.3 Cutting ................................................................................................................3-67
3.7.4 Pasting................................................................................................................3-68
3.7.5 Reverse Pasting ................................................................................................. 3-69
3.8 Test Operations ............................................................................................................... 3-70
3.8.1 Test Operation Procedures.................................................................................3-70
3.9 Other Job-editing Functions............................................................................................. 3-71
3.9.1 Editing Play Speed ............................................................................................. 3-71
3.9.1.1 Modification of Speed Type................................................................... 3-71
3.9.1.2 Relative Modification ............................................................................. 3-71
3.9.1.3 Modification by TRT (Traverse Time) .................................................... 3-73
3.9.2 Editing Interpolation Type................................................................................... 3-75
3.9.3 Editing Condition Files........................................................................................ 3-76
3.9.4 User Variables .................................................................................................... 3-77
3.9.4.1 Setting Byte, Integer, Double Precision Integer, 
and Real Type Variables ....................................................................... 3-78
3.9.4.2 Setting Character Type Variables.......................................................... 3-80
3.9.4.3 Registering Variable Name....................................................................3-82
3.9.4.4 Displaying Position Variables ................................................................ 3-83
3.9.4.5 Setting Position Variables...................................................................... 3-84
3.9.4.6 Setting Position Variables Using the Numeric Keys .............................. 3-85
3.9.4.7 Setting Position Variables Using the Axis Keys..................................... 3-87
3.9.4.8 Deleting Data Set of Position Variables.................................................3-88
3.9.4.9 Checking Positions by Position Variables ............................................. 3-88
3.9.4.10 Manipulator Types ............................................................................... 3-89
3.9.5 Flip/No Flip.......................................................................................................... 3-90
3.9.6 R-axis Angle .......................................................................................................3-90
3.9.7 T-axis Angle........................................................................................................ 3-91
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YASKAWA DX100 Specifications

General

Programming Language	Inform III
Compatible Robots	Motoman robots
Operating Temperature	0-45°C
Humidity	20-80% RH (non-condensing)
Protection Class	IP20
Interface	Ethernet
Safety Standards	ANSI/RIA R15.06-1999
Pendant	Available
I/O Capacity	1024 inputs / 1024 outputs
Storage Temperature	-10-60°C