9 General Purpose Application
9.3 Using Files
9-35
155507-1CD
RE-CSO-A037
DX100
< Example 1 > REFP1 is registered because the wall direction is not
parallel to the Z-axis of the robot coordinate.
< Example 2 > REFP2 is registered because the approach point is at
another side of the wall.
9.3.3.4 Prohibiting Weaving
If the weaving instruction is registered during the check mode of the play
mode or “TEST RUN” or FWD operation in the teach mode, weaving is
executed as well as other move instructions. However, in some cases
when weaving is not wanted because of a workpiece collides, etc., follow
the procedure below to prohibit weaving.
9.3.3.5 Method to Prohibit Weaving in the Check Mode
1. Press [AREA].
2. Select {UTILITY}.
3. Select {SPECIAL PLAY}.
4. Select prohibit weaving during the check mode.
– The SPECIAL PLAY window appears.
Wall direction
003
004
005
MOVL V=120
WVON WEV#(1)
REFP 1
MOVL V=50
WVOF
Example
REFP1
Z-axis
006
007
Example
010
011
012
MOVL V=120.0
WVON WEV#(1)
REFP 2
MOVL V=16.7
WVOF
009 MOVJ VJ=25.00
Approach point
Approach point
Wall
REFP2
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