Setting The Shift Value - YASKAWA NX100 Operator's Manual

149235-1CD
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Setting the Shift Value

When setting the shift value for the position variables, use the current position (coordinates) of the
manipulator in the window.
DATA EDIT DISPLAY UTILITY
CUR POS
COORDINATE USER COORD #01
5.360 mm
R1: X
Y 66.080 mm
Z 316.940 mm
<ROBOT TYPE>
FRONT S>= 180
UP R>= 180
T< 180
NO FLOP
Teaching position
The shift value is the X, Y, and Z difference between the shift position and teaching position and the
difference in angular displacement RX, RY, and RZ (normally set at "0"). If shifting is executed at equal
pitch intervals, for example for palletizing, find the difference between the teaching position and the final
shift position, then divide by the number of pitch intervals (number of divisions) to calculate the shift
value per pitch.
Teaching position
TOOL: 00
Rx -179.91 deg
Ry
-2.17 deg
Rz -102.89 deg
DATA EDIT
DISPLAY
POSITION VARIABLE
#P000 ROBOT NAME:
R1:X -100.000 TOOL: 00
Y 0.000
Z -100.000 <TYPE>
Rx 0.00 FRONT
Ry 0.00 UP
Rz 0.00 FLIP
Main Menu ShortCut
L1
L2
DATA EDIT DISPLAY
CUR POS
COORDINATE USER COORD #01
R1: X 105.360 mm
Y 66.080 mm
Z 416.940 mm
<ROBOT TYPE>
FRONT
UP
NO FLIP
Position to be shifted
(Move the manipulator using the programming pendant.)
Differences are assumed to be shift amounts.
UTILITY
S>=180
R>=180
T< 180
L2=
Final shift position
6-6
6 Convenient Functions
6.2 Parallel Shift Function
UTILITY
TOOL: 00
Rx
-179.91 deg
Ry -2.17 deg
Rz
-102.89 deg
S>= 180
R>= 180
T< 180
L1
Number of pitches
203 of 493
RE-CSO-A031