Begin move instruction insertion.
Move step cursor to location where you want
to insert the instruction.
Perform axis operations.
Set interpolation type.
Set play speed.
Set position level when necessary.
Press [INSERT].
Press [ENTER].
Insertion completed.
Begin move instruction deletion.
Move cursor to location of instruction to be
deleted.
Press [DELETE].
Press [ENTER].
Deletion completed.
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NOTE
It is not possible to change a move instruction to a refer-ence point instruction and vice versa.Move step cursor to step to be modified.
Move to position to be modified using the axis operation keys.
Press [MODIFY].
Press [ENTER].
Modification completed.
Modifying position data
Perform axis operations to position
to be modified.
Press [MOTION TYPE]
and select motion type.
Insert MOV instruction.
Modification completed.
Modifying interpolation type
Delete MOV instruction.
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Begin REFP instruction modification.
Move step cursor to the REFP instruction to be deleted, and move the
manipulator to the position.
Press [DELETE].
Press [ENTER].
Deletion completed.
Deletions
Move step cursor to the REFP instruction to be
modified.
Press [REFP].
Press [ENTER].
Modification completed.
Modifications
Perform axis operations.
Press [MODIFY].
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Begin TIMER Instruction Modification.
Move edit cursor to the TIMER instruction to be
deleted.
Press [DELETE].
Press [ENTER].
Deletion completed.
Deletions
Enter timer value.
Press [ENTER].
Modification completed.
Modifications
Press [TIMER].
Press [MODIFY].
Move edit cursor to the TIMER instruction to be
modified.
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DX100 3.4 Modifying Steps
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3.4.1 Displaying the JOB CONTENT Window for Editing 3.4.1.1 Currently Called Up Job
1. Select {JOB} under the main menu.
2. Select {JOB}.
– The JOB CONTENT window appears.
3.4.1.2 Calling Up Other Jobs
1. Select {JOB} under the main menu.
2. Select {SELECT JOB}.
– The JOB LIST window appears.
3. Select the job name to be called.
NOTE
In any other than the teach mode, set the mode switch to“TEACH.”
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3.4.2 Inserting Move Instructions
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.
5. Press [ENTER].
– <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
NOTE
Move instructions cannot be inserted when the servo power is OFF.NOTE
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.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 The move instruction
is added.
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DX100 3.4 Modifying Steps
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TEACHING CONDITION window.
NOTE
Positions where the move instructions are inserted.
The default location for insertions is “before the next step,”
but it is also possible to insert “after the cursor line.” This setting is made in the “Move Instruction Register Method” in the TEACHING CONDITION window.
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
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3.4.3 Deleting Move Instructions
1. Move the cursor to the move instruction to be deleted.
2. Press [DELETE].
– The key lamp will blink.
3. Press [ENTER].
– The step indicated by cursor line is deleted.
NOTE
If the manipulator position differs from the cursor position on the window, the cursor blinks. Stop the blinking by either of the following procedures.
1. Press [FWD] and move the manipulator to the position where the move instruction is to be deleted.
2. Press [MODIFY] [ENTER] to change the position data of the blinking cursor position to the current manipulator position.
Step where move instruction is to be deleted
Path after deletion Path before deletion
0003 MOVL V=138 0004 MOVL V=558 0005 MOVJ VJ=50.00 Move instruction
to be deleted
0003 MOVL V=138 0004 MOVJ VJ=50.00
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3.4.4 Modifying Move Instructions 3.4.4.1 Modifying Position Data
1. Move the cursor to the MOV instruction to be modified.
– Display the JOB CONTENT window and move the cursor to the move instruction to be changed.
2. Press the axis operation key.
– Turn ON the servo power and press the axis operation key to move the manipulator to the desired position.
3. Press [MODIFY].
– The key lamp will blink.
4. Press [ENTER].
– The position data in the present position is registered.
3.4.4.2 Modifying Interpolation Type
1. Move the cursor to the move instruction to be modified.
– Display the JOB CONTENT window, and move the cursor to the move instruction for which interpolation type is to be changed.
2. Press [FWD].
– Turn ON the servo power and press [FWD] to move the manipulator to the position of the move instruction.
3. Press [DELETE].
– The key lamp will blink.
4. Press [ENTER].
– The cursor line step is deleted.
5. Press [MOTION TYPE].
– Press [MOTION TYPE] to change the interpolation type.
– Each time [MOTION TYPE] is pressed, the input buffer line instruction alternates.
6. Press [INSERT].
7. Press [ENTER].
– The interpolation type and position data are changed at the same time.
SUPPLE-MENT
For MOV instructions for which position variables have been set, the position variables will not be changed.
NOTE
Modifying only interpolation type is impossible. The interpo-lation type can be modified as a choice for modifying the position data.工控帮助教小舒QQ:2823408167
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3.4.5 Undo Operation
After inserting, deleting, or modifying an instruction, the operation can be undone.
The UNDO operation becomes enabled by selecting {EDIT} {ENABLE UNDO}, and becomes disabled by selecting {EDIT} {
∗
ENABLE UNDO}while editing a job.
1. Press [ASSIST].
– The assist menu appears.
2. Select {UNDO}.
– The last operation is undone.
3. Select {REDO}.
– The last UNDO operation is undone.
NOTE
• The undo operation can be performed even after the manipulator is moved by the FWD or BWD operation or test operation after inserting, deleting, or modifying a move instruction. However, the undo operation cannot be performed if other instructions are edited or a job is exe-cuted in the play mode after editing the move instruction.
• The undo operation works only for the last five edited instructions only.
UNDO REDO
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3.4.6 Modifying Reference Point Instructions 3.4.6.1 Deleting Reference Point Instructions
1. Move the cursor to the reference point instruction to be deleted.
2. Press [DELETE].
– The key lamp will blink.
3. Press [ENTER].
– The reference point instruction at the cursor line is deleted.
3.4.6.2 Modifying Reference Point Instructions
1. Move the cursor to the reference point instruction to be modified.
2. Move the manipulator with the axis operation keys.
– Turn ON the servo power and use the axis operation keys to move the manipulator to the desired position.
3. Press [REFP].
4. Press [MODIFY].
– The key lamp will light.
5. Press [ENTER].
– The reference point instruction at the cursor line is changed.
NOTE
If the manipulator position differs from the cursor position, an error message is displayed. If this occurs, follow either of the procedures below.
• Press [REFP] + [FWD] to move the manipulator to the position to be deleted.
• Press [MODIFY] then [ENTER] to change the reference point position data to the current position of the manipula-tor.
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3.4.7 Modifying Timer Instructions 3.4.7.1 Deleting Timer Instructions
1. Move the cursor to the timer instruction to be deleted.
2. Press [DELETE].
– The key lamp will light.
3. Press [ENTER].
– The timer instruction at the cursor line is deleted.
3.4.7.2 Modifying Timer Instructions
1. Move the cursor to the timer instruction to be modified.
2. Press [TIMER].
3. Move the cursor to the input buffer line timer value.
– Move the cursor to the input buffer line timer value and press [SHIFT] + the cursor key to set the data.
– To use the Numeric keys to input data, move the cursor to the input buffer line timer value and press [SELECT].
4. Change the timer value.
5. Press [MODIFY].
6. Press [ENTER].
– This key lamp will light.
0003 MOVJ VJ=50.00 0004 TIMER T=0.50 0005 MOVL V=138 Timer instruction
to be deleted
0003 MOVJ VJ=50.00
3 Teaching
DX100 3.5 Modifying Jobs