YASKAWA DX100 Operator's Manual

3 Teaching
3.2 Teaching Operation
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155507-1CD
RE-CSO-A037
DX100
 Selecting the Tool Number
1. Press [SHIFT] + [COORD].
– When selecting the “JOINT”, “XYZ/CYLINDRICAL”, or “TOOL”
coordinates, press [SHIFT] + [COORD] and the TOOL NO. SELECT
window will be shown.
2. Move the cursor to the desired tool number.
– The currently-selected tool number by the cursor is displayed.
3. Press [SHIFT] + [COORD].
– The JOB CONTENT window appears.
 Setting the Interpolation Type
1. Press [MOTION TYPE].
2. Select the desired interpolation type.
– When [MOTION TYPE] is pressed, MOVJ  MOVL  MOVC 
MOVS are displayed in order in the input buffer line.
SUPPLE-
MENT
Using Multiple Tools with One Manipulator
• When multiple tools are to be used with one manipulator,
set parameter S2C431 to 1.
• See section 2.3.4 “Tool Coordinates” on page 2-9 for
details on this operation.
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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