YASKAWA DX100 Instructions Manual

Also see for MOTOMAN DX100: Instructions Instruction manual Instructions Instructions Instruction manual

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YASKAWA DX100 Instructions Manual Manual pdf 11 page image

2 The Servofloat FunctionDX100 2.1 Moving with the Move Instruction2-2HW0482946HW04829462.1 Moving with the Move InstructionIf an external force prevents manipulator operation, the manipulator doesnot reach the taught position when the servofloat function is enabled.Even though the manipulator does not actually reach the taught position,the instruction that would be activated at that position are nonethelessenabled, so the move instruction terminated.Therefore, when the manipulator cannot reach the taught positionbecause of an external force, the manipulator performs the nextinstruction.The following figure shows an example where the operation time is 5seconds from STEP 1 to STEP 2. If the manipulator hits an obstruction 3seconds after STEP 1 and stops there, it remains stopped at the positionfor the remaining 2 seconds, and then moves to STEP 3 without movingto STEP 2 when moving with the torque control.STEP 1 MOVL V=100.0FLOATON FL#(1)STEP 2 MOVL V=100.0STEP 3 MOVL V=100.0FLOATOFSTEP 1 STEP 2STEP 3Obstruction3 seconds5 secondsobstruction and stops for is completed.2 seconds until the MOVE instructionto STEP 2. The manipulator hits anAfter completion of discharging, itmoves to STEP 3 in torque controlled status.11/30