DX100 Table of Contents
viii
156191-1CD
HW0482494
4.2 Relative Job Data Examples............................................................................................ 4-12
4.2.1 Job for User Coordinate System No. 3, Only for Robot Axis (6-Axis Robot) ...... 4-12
4.2.2 Job for User Coordinate System No. 3, Only for Robot Axis (7-Axis Robot) ...... 4-13
4.2.3 Job for Robot Axis (6-axis) + Base Axis (Base Coordinate System) .................. 4-14
4.2.4 Job for Robot Axis (6-Axis) + Base Axis + Station Axis
(Base Coordinate System, Single Job)............................................................... 4-15
4.2.5 Job for Robot Axis (6-Axis) + Base Axis + Station Axis
(Base Coordinate System, Coordinate Job) ....................................................... 4-16
4.2.6 Job for Robot Axis (6-Axis) + Robot Axis (6-Axis)
(Base Coordinate System, Coordinate Job) ....................................................... 4-17
4.2.7 Job for Robot Axis (7-Axis) + Robot Axis (6-Axis)
Base Coordinate System, Coordinate Job) ........................................................ 4-19
4.3 Configuration of Position Data ......................................................................................... 4-21
4.3.1 Position Data of Each Axis ................................................................................. 4-21
4.3.1.1 Robot Axis ............................................................................................. 4-21
4.3.1.2 Station Axis ........................................................................................... 4-21
4.3.1.3 Base Axis .............................................................................................. 4-21
4.3.2 Position Data of Each Coordinate System.......................................................... 4-22
4.3.2.1 Base Coordinate System....................................................................... 4-22
4.3.2.2 Robot Coordinate System ..................................................................... 4-22
4.3.2.3 User Coordinate System ....................................................................... 4-23
4.4 Manipulator Type ............................................................................................................. 4-24
4.4.1 Flip/No-flip...........................................................................................................4-24
4.4.2 R-axis Angle ....................................................................................................... 4-25
4.4.3 T-axis Angle........................................................................................................ 4-25
4.4.4 Front/Back .......................................................................................................... 4-26
4.4.5 Upper/Lower Arm (Type Comprised of an L-axis and U-axis ............................. 4-28
4.4.6 S-axis Angle........................................................................................................ 4-28
5 Alarm and Error Message List......................................................................................................... 5-1
5.1 Alarm Messages ................................................................................................................5-1
5.2 Error Messages.................................................................................................................. 5-1
6 Instruction List................................................................................................................................. 6-1
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