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3 Teaching

3.2 Teaching Operation

3-18

149235-1CD

RE-CSO-A031

3.2.4 Overlapping the First and Last Steps

Why is overlapping the first and last step necessary?

Assume that the job shown below is to be repeated. The manipulator moves from the last

step (Step 6) to the first step (Step 1). If Step 6 and Step 1 are the same position, the

manipulator moves directly from Step 5 to Step 1, thereby improving work efficiency.

Operation Explanation

1 Move the cursor to the first

step line.

2 Press [FWD]. The manipulator moves to the first step position.

3 Move the cursor to the last

step line.

The cursor starts blinking. When the cursor line position and the

manipulator position are different in the JOB CONTENT window,

the cursor blinks.

4 Press [MODIFY]. The key lamp lights.

5 Press [ENTER]. The position data for the first step is registered on the line of the

last step. At this time, only the position data can be changed in

the last step. Interpolation type and play speed do not change.

SUPPLE

-MENT

Step 2

Step 3

Step 4

Step 5

The position of step 6 is changed

to overlap with step 1.

Step 6

Step 6 after

change

Step 1

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YASKAWA NX100 User Manual

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