YASKAWA MOTOMAN DX100, Operator'S Manual

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3 Teaching
3.9 Other Job-editing Functions
3-87
155507-1CD
RE-CSO-A037
DX100
3.9.4.7 Setting Position Variables Using the Axis Keys

Pulse Type
1. Select {VARIABLE} under the main menu.
2. Select desired position variable type.
– The desired variable window appears (robot, base, or station).
3. Press [SHIFT] + [ROBOT]. When you need an external axis position,
press [SHIFT]+[EX.AXIS].
(1) When there are two or more robot, base, or a station, specify the
axis with following operation.
• Robot

Each time [SHIFT] + [ROBOT] is pressed, the axis displayed on the
status line changes:

R1  R2  ...  R8.
• Base or Station

Each time [SHIFT]+[EX.AXIS] is pressed, the axis displayed on the
status line changes:

B1  B2  ...  B8  S1  S2  ......  S24.
(2) Check the selected axis on the status line.
4. Move the manipulator with the axis keys.
– Move the manipulator or the external axis to the desired position to
be set to position variable.
5. Press [MODIFY].
6. Press [ENTER].

XYZ Type
1. Select {VARIABLE} under the main menu.
2. Select desired position variable type.
(1) When there are two or more robot, base, or a station, specify the
axis with following operation.
•
Robot

Each time [SHIFT] + [ROBOT] is pressed, the axis displayed on the
status line changes:

R1  R2  ...  R8.
•
Base or Station

Each time [SHIFT]+[EX.AXIS] is pressed, the axis displayed on the
status line changes:

B1  B2  ...  B8  S1  S2  ......  S24.
(2) Check the selected axis on the status line.
3. Move the manipulator with the axis keys.
– Move the manipulator or the external axis to the desired position to
be set to position variable.
4. Press [MODIFY].
5. Press [ENTER].
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