YASKAWA NX100 User Manual

3 Teaching
3.4 Modifying Steps
3-28
149235-1CD
RE-CSO-A031
3.4.2 Inserting Move Instructions
Move instructions cannot be inserted when the servo power is OFF.
Operation Explanation
1 Move the cursor to the line
immediately before the insert
position.
2 Press the axis operation key. Turn ON the servo power and press the axis operation key to
move the manipulator to the position to be inserted.
3 Press [INSERT]. The key lamp will light.
4 Press [ENTER]. The move instruction is inserted after the cursor line.
<Examples of Inserting a Move Instruction>
When a move instruction is inserted in the following job, it is
placed on different lines according to the setting in the
TEACHING CONDITION window.
NOTE
Step where move instruction is to be inserted
Path before insertion
Path after insertion
0006 MOVL V=276
0007 TIMER T=1.00
0008 DOUT OT#(1) ON
0009 MOVJ VJ=100.0
The line immediately
before where the
move instruction
is to be added.
Confirm the move instruction on the input buffer line
and set desired interpolation type and play speed.
NOTE
When the inserting position is immediately before
the END instruction, pressing [INSERT] is not
needed.
NOTE
0006 MOVL V=276
0007 TIMER T=1.00
0008 DOUT OT#(1) ON
0009 MOVL V=558
0010 MOVJ VJ=100.0
The move instruction
is added.
0006 MOVL V=276
0007 TIMER T=1.00
0008 DOUT OT#(1) ON
0009 MOVL V=558
0010 MOVJ VJ=100.0
Added
instruction
0006 MOVL V=276
0007 MOVL V=558
0008 TIMER T=1.00
0009 DOUT OT#(1) ON
0010 MOVJ VJ=100.0
Added
instruction
Before inserting the move instruction
After the insertion: when inserting before the next step
After the insertion: when inserting after the cursor line
0006 MOVL V=276
0007 TIMER T=1.00
0008 DOUT OT#(1) ON
0009 MOVJ VJ=100.0
Cursor line
92 of 493

YASKAWA NX100 Specifications

General

Manufacturer	YASKAWA
Model	NX100
Operating Temperature	0 to 45°C
Humidity	20 to 80% RH (non-condensing)
Communication Interfaces	Ethernet
Safety Standards	ISO 10218-1
Power Supply	200-230V AC, 50/60Hz
Storage Temperature	60°C