YASKAWA NX100 Operator's Manual page 216

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6 Convenient Functions
6.3 Parallel Shift Job Conversion Function
 Base Coordinates
The base axis is shifted by B and the TCP of the manipulator is shifted by A in the base coordinates.
Base coordinates
A
B
Base
 Robot Coordinates
The base axis is shifted by B. The TCP of the manipulator is shifted by A in the robot coordinates.
These shifts are carried out independently.
Robot coordinates
Base coordinates
A
B
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