Registering Shift Instructions - YASKAWA NX100 Operator's Manual

6 Convenient Functions
6.2 Parallel Shift Function
The posture of the wrist is defined by the angular displacement of the coordinates of the wrist axes.
Consequently, if the shift value is specified with X, Y, and Z only (RX, RY, RZ=0), the wrist is shifted
while maintaining the same posture as at the teaching point. Since shifting is normally performed
without changing the posture, there is no need to specify an angular displacement for the wrist. The
motion when a parallel shift is performed is shown in the following:
The shift value is calculated on the position data window for the coordinates in which the shift is
performed. Since this is normally performed in the user coordinates, the position data window for the
user coordinates is used.
6.2.3

Registering Shift Instructions

To register the instruction, move the cursor to the address area in the JOB CONTENT window during
teach mode as follows:
Operation
1 Select {JOB} under the main
menu.
2 Select {JOB}.
3 Move the cursor to the
address area.
Teaching posture
Shift value
The JOB CONTENT window appears.
Address area
JOB
JOB CONTENT
JOB NAME: TEST01
CONTROL GROUP: R1
0000
0001
0002
0003
0004
0005
0006
0007
0008
0009
0010
0011
0012
0013
Main Menu
6-7
Shift without changing the wrist posture
(RX,RY,RZ=0)
Shift with wrist posture change
(RX,RY,RZ ≠ 0)
Explanation
EDIT UTILITY
DISPLAY
NOP
SET B000 0
SET B001 1
MOVJ VJ=80.00
MOVJ VJ=80.00
DOUT OGH#(13) B002
DOUT OT#(41) ON
MOVL C00002 V=880.0 CV#(1) CTP=0.662
DOUT OT#(44) ON
TIMER T=3.0
MOVL V=880.0
MOVL V=880.0
MOVL V=880.0
MOVL V=880.0
ShortCut
!Turn on servo power
149235-1CD
Instruction area
STEP NO: 0003
TOOL: 00
RE-CSO-A031
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