6-47
155507-1CD
RE-CSO-A037
DX100
6 Convenient Functions
6.5 PAM Function
6.5
PAM Function
6.5.1 Function
Overview
The function for position adjustment during playback (PAM: Position
Adjustment by Manual) allows position adjustment by simple operations
while observing the motion of the manipulator and without stopping the
manipulator. Positions can be adjusted in both teach mode and play
mode.
The following data can be adjusted by key input from the programming
pendant.
• Teaching Point (Position)
• Teaching Point (Posture angle)
• Operation Speed
• Position Level
6.5.1.1 Input Ranges for Adjustment Data
The input ranges for adjustment data are indicated in the following table.
Data
Input Range
Number of Steps for Adjustment
Up to 10 steps can be adjusted at the same
time.
Position Adjustment Range
(X, Y, Z)
Unit: mm, valid to two decimal places,
maximum ±10 mm
Posture Angle Adjustment Range
(Rx, Ry, Rz)
Unit: deg, valid to two decimal places,
maximum ±10 deg
Speed Adjustment Range (V)
Unit: %, valid to two decimal places,
maximum ±50%
PL Adjustment Range
0 to 8
Adjustment Coordinates
Robot coordinates, base coordinates, tool
coordinates, user coordinates (Default
coordinates: robot coordinates)
SUPPLE-
MENT
The input ranges for adjustment data can be changed by the
following parameters:
• S3C1098: Position adjustment range (unit: 0.001 mm)
• S3C1099: Speed adjustment range (unit: 0.01%)
• S3C1100: Adjustment coordinate specification
• S3C1102: Posture angle adjustment range (unit: 0.01 deg)
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