YASKAWA motoman NX100, Instructions Manual

Page: 144 / 210

5.16 Method 2: Perform Teaching for Each Manipulator
5-35
Operation Explanation
1 Teach the coordinated job of
leader subtask.
Teach all the steps of coordinated job for one manip the
station.
2 New job registration for the
coordinated job of follower
subtask.
Register as a new job the coordinated job for other respective
manipu the station.
For new job registration, refer to “5.10 Registering Job.”
3 New job registration of master
task.
Register the master task as concurrent job.
For concurent job, refer to “7.5.2 Concurrent Job.”
4 Register PSTART instruction. Register a PSTART instruction to start the job that was registered
at Operation 2. To specify this subtask as the follower, add a tag
SYNC and the leader subtask.
Then, register a PSTART instruction to start the job that was
taught at Operation 1.
5 Set to “Single job operation
mode.”
Set the operation mode at FWD operation to “Single job operation
mode.”
Pressing [SHIFT] + [SMOV] changes the operation mode.
Teaching and
confirming
movements.
0000
0001
0002
0003
0004
0005
NOP
’JOB FOR MASTER TASK
PSTART JOB:JOB-R1 SUB1 SYNC SUB3
PSTART JOB:JOB-R1 SUB2 SYNC SUB3
PSTART JOB:JOB-R2 SUB3
END
Follower
EDIT DISPLAY UTILITY JOB
Short Cut Main Menu
JOB CONTENT: MASTER
JOB NAME: M-TASK
CONTROL GROUP: NON GROUP STEP NO: 000
TOOL:
Follower
Leader
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