YASKAWA DX100 Operator's Manual

xvii
155507-1CD
RE-CSO-A037
DX100
Table of Contents
3.9.8 Front/Back .......................................................................................................... 3-91
3.9.9 Upper Arm/Lower Arm........................................................................................ 3-93
3.9.10 S-axis Angle ..................................................................................................... 3-93
3.9.11 Editing Local Variables ..................................................................................... 3-94
3.9.11.1 Setting the Number of Local Variables................................................ 3-96
3.9.12 Search .............................................................................................................. 3-98
3.9.12.1 Line Search ......................................................................................... 3-99
3.9.12.2 Step Search ...................................................................................... 3-100
3.9.12.3 Label Search ..................................................................................... 3-101
3.9.12.4 Instruction Search ............................................................................. 3-103
3.9.12.5 Tag Search........................................................................................ 3-105
4 Playback ......................................................................................................................................... 4-1
4.1 Preparation for Playback ................................................................................................... 4-1
4.1.1 Selecting a Job..................................................................................................... 4-1
4.1.1.1 Calling a Job ........................................................................................... 4-1
4.1.1.2 Registering the Master Job ..................................................................... 4-2
4.1.1.3 Calling the Master Job............................................................................. 4-4
4.1.2 The PLAYBACK Window...................................................................................... 4-6
4.1.2.1 Display of Cycle Time.............................................................................. 4-6
4.1.2.2 Operation Cycle ...................................................................................... 4-7
4.2 Playback .......................................................................................................................... 4-10
4.2.1 Playback Operation ............................................................................................ 4-10
4.2.1.1 Selecting the Start Device..................................................................... 4-10
4.2.1.2 Servo On ............................................................................................... 4-10
4.2.1.3 Start Operation ...................................................................................... 4-10
4.2.2 Special Playback Operations.............................................................................. 4-11
4.2.2.1 Low Speed Operation ........................................................................... 4-11
4.2.2.2 Limited Speed Operations..................................................................... 4-12
4.2.2.3 Dry-run Speed Operations .................................................................... 4-12
4.2.2.4 Machine Lock Operation ....................................................................... 4-13
4.2.2.5 Check Mode Operation ......................................................................... 4-13
4.2.2.6 Weaving Prohibit Setting during Check Mode Operation ...................... 4-13
4.2.2.7 Cancel All Special Operations............................................................... 4-14
4.3 Stop and Restart.............................................................................................................. 4-15
4.3.1 Hold ....................................................................................................................4-15
4.3.1.1 Using the Programming Pendant .......................................................... 4-15
4.3.1.2 Using an External Input Signal (System Input)...................................... 4-15
4.3.2 Emergency Stop ................................................................................................. 4-16
4.3.2.1 Restart After Emergency Stop............................................................... 4-17
4.3.3 Stop by Alarm ..................................................................................................... 4-18
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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