YASKAWA DX100 Operator's Manual

xix
155507-1CD
RE-CSO-A037
DX100
Table of Contents
6 Convenient Functions ..................................................................................................................... 6-1
6.1 One-touch Operation “Direct Open”................................................................................... 6-1
6.2 Job Edit Function During Playback.................................................................................... 6-3
6.2.1 Function................................................................................................................6-3
6.2.2 Job Edit During Playback ..................................................................................... 6-3
6.2.2.1 Basic Operation....................................................................................... 6-3
6.2.2.2 Editing ..................................................................................................... 6-6
6.2.2.3 Editing Multiple Jobs ............................................................................... 6-8
6.2.2.4 Canceling Write Request....................................................................... 6-11
6.3 Parallel Shift Function...................................................................................................... 6-13
6.3.1 Function Overview.............................................................................................. 6-13
6.3.1.1 Parallel Shift of Step.............................................................................. 6-14
6.3.1.2 Parallel Shift of Job ............................................................................... 6-14
6.3.2 Setting the Shift Value........................................................................................ 6-15
6.3.2.1 Coordinate Systems .............................................................................. 6-15
6.3.2.2 Setting the Shift Value........................................................................... 6-15
6.3.3 Registering Shift Instructions.............................................................................. 6-17
6.3.3.1 SFTON Instruction................................................................................. 6-18
6.3.3.2 SFTOF Instruction ................................................................................. 6-20
6.3.3.3 MSHIFT Instruction ............................................................................... 6-21
6.3.4 Continuation of the Parallel Shift Function ......................................................... 6-23
6.3.5 Examples of Use ................................................................................................ 6-24
6.3.5.1 Example of Use of Shift Addition/Subtraction........................................ 6-24
6.3.5.2 Example of Use of MSHIFT Instruction ................................................. 6-25
6.4 Parallel Shift Job Conversion Function............................................................................ 6-26
6.4.1 Function Overview.............................................................................................. 6-26
6.4.2 Coordinate Systems for Conversion................................................................... 6-27
6.4.3 Executing the Parallel Shift Job Conversion....................................................... 6-31
6.4.3.1 Window Display..................................................................................... 6-31
6.4.3.2 Parallel Shift Job Conversion Operation ............................................... 6-33
6.4.4 Specifying the Shift Value by Position Variables................................................ 6-39
6.4.4.1 Window Display..................................................................................... 6-39
6.4.4.2 Jobs Targeted for Conversion ............................................................... 6-41
6.4.4.3 Conversion of Coordinated Jobs........................................................... 6-42
6.4.4.4 Operation Procedure ............................................................................. 6-45
19 of 554

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