YASKAWA DX100 Operator's Manual

9 General Purpose Application
9.1 Simplified Teaching and Playback
9-23
155507-1CD
RE-CSO-A037
DX100
 Step 4 -- Cutting End Position
Define the cutting end position.
1. Move the manipulator to the cutting end position
with the axis operation keys. It is necessary to
choose a direction in which the treatment device
and the tools do not interfere when the
manipulator moves, and teach that position.
2. Set linear interpolation (MOVL) by pressing
[MOTION TYPE].
3. With the cursor located on the line number,
press [SELECT].
4. The input buffer line appears. Move the cursor
to the right to “V=11.0,” which shows the speed.
Press [SELECT] to enable the input of
numbers. Then, input the desired value of
50.0mm/s with the Numeric keys and press
[ENTER].
5. Press [ENTER]. Step 4 is registered.
6. Press [./TOOL OF]. “TOOLOF” is displayed in
the input buffer line.
7. Press [ENTER]. The TOOLOF instruction is
registered.
S-
X-
S+
X+
L-
Y-
L+
Y+
U-
Z-
U+
Z+
7- 7+
R-
X-
R+
X+
B-
Y-
B+
Y+
T-
Z-
T+
Z+
MOVL V=11.0
MOTION
TYPE
MOVL V=11.0
SELECT
SELECT
9
6
3
-
.
2
5
8
7
4
1
0
MANUAL
OPEN
TOOL ON
TOOL ON
JOB
TOOL OF
TOOL OF
JOB
ENTER
0000 NOP
0001 MOVJ VJ=25.00
0002 MOVJ VJ=25.00
0003 MOVJ VJ=12.50
0004 TOOLON
0005 MOVL V=50.0
0006 END
ENTER
ENTER
TOOLOF
.
TOOL OF
ENTER
ENTER
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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