YASKAWA FS100 Instructions Manual

Also see for MOTOMAN FS100: Instructions Instructions Maintenance manual Instructions Instructions

Contents

YASKAWA FS100 Instructions Manual Manual pdf 8 page image

1 PMT FunctionFS1001-1161366-1CDHW14807421 PMT FunctionThe PMT function corrects the position data when the tool is deformedduring operation(PMT: Position Modification for Tool Deformation). When a toolinadvertently collides with peripheral jigs or walls during operation and isdeformed, the tool center point will be dislocated and the taught position ofthe job programmed would be shifted; it requires a great deal of time andeffort for correction. In such a case, the PMT function can be used tocorrect the position data easily and accurately.By specifying the desired job, the position data of the taught tooldimensions before deformation are converted automatically to the positiondata of the tool dimensions after deformation.In the PMT function, the tool before deformation is called “the original tool”and the tool after deformation is called “the orientation tool”.NOTE• For a job in which teaching is performed by using severaltypes of tools, only the position data obtained by the speci-fied original tool is converted.• The position variables are not converted in the PMT func-tion.Tool at teaching (Original tool)Deformed tool(Orientation tool)Dislocation of tool center point001600170018MOVJWAIT IN#(1)=0MOVL V=70Position data of the step taughtby the original tool is converted.