Setting The Shift Value - YASKAWA NX100 Operator's Manual

6 Convenient Functions
6.2 Parallel Shift Function
6.2.2

Setting the Shift Value

 Registering Position Variables
The NX100 has 128 position variables (P000 to P127); these can be used to define parallel shift values.
When using the parallel shift function, it is necessary to measure the distance between the teaching
point and the shift destination position (XYZ displacement of each coordinate) and then register this in
advance as a position variable.
When the shift instruction is executed in playback, the operation is performed at a location shifted from
the taught position by the amount registered for the specified position variable. The POSITION
VARIABLE window is shown in the following.
DATA
POSITION VARIABLE
#P000
Main Menu
 Coordinate Systems
The shift value for parallel shift is X, Y, and Z increment in each coordinates. There are four
coordinates: base coordinates, robot coordinates, tool coordinates, and user coordinates. In systems
with no servo track, the base coordinates and robot coordinates are the same.
Base coordinates
EDIT DISPLAY UTILITY
ROBOT NAME:
R1:X -200.000 TOOL: 00
Y 0.000
Z 500.000 <TYPE>
FRONT S>=180
Rx 0.00
Ry 0.00 UP R>=180
Rz 0.00 FLIP T< 180
ShortCut
!Turn on servo power
SFTON P000
Amount of
shift (mm)
Amount of wrist
displacement (° )
Tool coordinates
Robot coordinates
User coordinates
User coordinates
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