YASKAWA MOTOMAN DX100 - Page 12

2 Examples of Use of Relative Jobs
DX100 2.1 Shift Function to Offset Workpiece Position Error
2-2
156191-1CD
HW0482494
2. Create a user coordinate system for the workpiece. Execute a job that
creates a user coordinate system based on the position data of three
definition points detected on the workpiece by sensors.
3. Create a relative job.
– Convert “STANDARD-1” created in step 1 into a relative job called
“RELATIVE-1” using user coordinate system No. 1 created in step 2.
Z-Coordinate
Y-Coordinate
X-Coordinate
External Computer,
Vision Controller,etc.
Camera
a
b
c
Position Data of a,b,c
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LOADV P000  a
LOADV P001  b
LOADV P002  c
Position data of points detected by external
sensors is received and stored as position
variables.
MFRAME UF#(1) P000 P001 P002
END
User coordinate system
created.
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