YASKAWA MOTOMAN DX100, Operator'S Manual

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9-16
155507-1CD
RE-CSO-A037
DX100
9 General Purpose Application
9.1 Simplified Teaching and Playback

Adding a Step
Add a new step between Step 5 and Step 6.
Step5
Step6
Step6
Step5
Step7
Add
1. Move the manipulator to Step 5 (Line 0005) by
pressing [FWD].
2. Move the manipulator to the position at which
you wish to add a step using the axis operation
keys.
3. Press [INSERT].
4. Press [ENTER]. The step is added. When a
step is added, the numbering is automatically
adjusted to count the new step.
0000 NOP
0001 MOVJ VJ=50.00
0002 MOVJ VJ=50.00
0003 MOVJ VJ=12.50
0004 MOVL V=138
0005 MOVJ VJ=50.00
0006 MOVJ VJ=50.00
0007 END
FWD
S-
X-
S+
X+
L-
Y-
L+
Y+
U-
Z-
U+
Z+
7- 7+
R-
X-
R+
X+
B-
Y-
B+
Y+
T-
Z-
T+
Z+
INSERT
0000 NOP
0001 MOVJ VJ=50.00
0002 MOVJ VJ=50.00
0003 MOVJ VJ=12.50
0004 MOVL V=138
0005 MOVJ VJ=50.00
0006 MOVJ VJ=50.00
0007 MOVJ VJ=50.00
0008 END
ENTER
ENTER
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