YASKAWA NX100 - Page 76

3 Teaching
3.2 Teaching Operation
3-12
149235-1CD
RE-CSO-A031
Setting the Play Speed
Follow the above instructions when conducting teaching. (Tool number, interpolation type, or play
speed does not need to be set if it is same as the previous step.)
Setting Position Level
The position level is the degree of approximation of the manipulator to a taught position.
The position level can be added to move instructions MOVJ (joint interpolation) and MOVL (linear
interpolation). If the position level is not set, the precision depends on the operation speed. Setting an
appropriate level moves the manipulator in a path suitable to circumferential conditions and the
workpiece. The relationship between path and accuracy for position levels is as shown below.
Operation Explanation
1 Move the cursor to the
instruction.
2 Press [SELECT]. The cursor moves to the input buffer line.
3 Move the cursor to the play
speed to be set.
4 Press [SHIFT] + the cursor key
[↑] or [↓] simultaneously.
The joint speed moves up and down.
5 Press [ENTER]. The MOV instruction is registered.
• The position level can be set at the same time that the move instruction is registered.
• To make the setting so that the play speed tag is not displayed as a default, select {EDIT}
from the menu and then select “ENABLE PLAY SPEED TAG” to delete “∗.”
To display the position level tag as a default, select {EDIT} from the menu and then select
“ENABLE POS LEVEL TAG.”
0001 MOVJ=50.00
MOVJ VJ=50.00
MOVJ VJ=50.00
0000 NOP
0001 MOVJ VJ=50.00
0002 END
Move instruction
is registered.
SUPPLE
-MENT
SUPPLE
-MENT
P2
P1
P3
Position level 0
Positioning level 1
Positioning level 2
Positioning level 3
Positioning level 4
Positioning level 5
Position Levels Accuracy
0 Teaching position
1
to
10
Fine
|
Rough
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