YASKAWA DX100 - 6.4 Setting the Second Home Position (Check Point)

2-19
155507-1CD
RE-CSO-A037
DX100
2 Manipulator Coordinate Systems and Operations
2.3 Coordinate Systems and Axis Operation
<Example 2>TCP Change Operation with a Single Tool
(1) Set the two corners of the workpiece that the tool is holding as
TCP P1 and P2 respectively.
(2) By selecting two TCPs alternately, the workpiece can be moved as
shown below:
Fig. 2-11: Motion about TCP with P1
selected
Fig. 2-12: Motion about TCP with P2
selected
P1 P2
Workpiece
P2
P1
Workpiece
SUPPLE-
MENT
For registration of the tool file, refer to section 8.3 “Tool Data
Setting” of “DX100 INSTRUCTIONS” (RE-CTO-A215).
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