YASKAWA NX100 - Page 78

3 Teaching
3.2 Teaching Operation
3-14
149235-1CD
RE-CSO-A031
To perform the movement steps shown below, set as follows:
Steps P2, P4, and P5 are simple passing points, and do not require accurate positioning. Adding PL=1
to 8 to the move instructions of these steps moves the manipulator around the inner corners, thereby
reducing the cycle time.
If complete positioning is necessary as P3 or P6, add PL=0.
<EXAMPLE>
Passing points P2, P4, and P5:
MOVL V=138 PL=3
Positioning point P3 and P6:
MOVL V=138 PL=0
4 Press [ENTER]. To change the position level, select the level in the input buffer
line, type the value using the Numeric keys, and press [ENTER].
The position levels move instruction is registered.
5 Press [ENTER].
Operation Explanation
Short CutMain Menu
JOB CONTENT
JOB NAME : TEST01
CONTROL GROUP : R1
TOOL : 00
STEP NO. : 0003
0000
0001
0002
NOP
MOVJ
END
VJ=50.00 PL=1
MOVJ VJ=50.00 PL=1
JOB
EDIT DISPLAY UTILITY
Move instruction
is registered.
P1 P2 P4
P3
P5
P6
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