YASKAWA MOTOMAN DX100 - Mframe

3 Operations Related to Relative Jobs
DX100 3.3 Instructions Related to Relative Job
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3.3.2 MFRAME
The MFRAME instruction creates a user coordinate system from position
data detected by sensors.
<Example>
Position data of sensor-detected definition points of the user coordinate
system is stored as position variables. A user coordinate system is
created using the position variables.
MFRAME UF#(1) P000 P001 P002
ORG XX XY
Position variables and position data of user
coordinate system definition points are stored.
User coordi-
nate system to
be created.
NOTE
As for the position variable (cartesian) to be specified at
MFRAME instruction, set the position where the
manipulator is capable of carrying out the operations.
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