YASKAWA NX100 Operator's Manual page 215

149235-1CD
Relationship Between Group Combinations and Coordinates at Conversion
R+S The manipulator is shifted in the selected coordinates.
The station axis is shifted on the basis of pulse values regardless of the coordinates.
Base coordinates, robot coordinates, tool coordinates, user coordinates, pulse
coordinates
R(B)+S
The manipulator is shifted in the selected coordinates, as in
The station axis is shifted on the basis of pulse values regardless of the coordinates.
R+R Two manipulators are shifted in the selected coordinates.
Base coordinates, robot coordinates, tool coordinates, user coordinates, master
tool coordinates
R(B)+R(B)
Two manipulators are shifted in the selected coordinate system, as in
above. Two base axes are also shifted.
*1
In the master tool coordinates, conversion only occurs at the "slave" from the stand-
point of the SMOV instruction.
6.3 Parallel Shift Job Conversion Function
*1
, pulse coordinates
6-18
6 Convenient Functions
 
to above.
 
to
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