YASKAWA NX100 Operator's Manual page 217

149235-1CD
6 Convenient Functions
6.3 Parallel Shift Job Conversion Function
 Tool Coordinates
The base axis is shifted by B and the TCP of the manipulator is shifted by A in the tool coordinates.
These shifts are carried out independently.
Base coordinates
Tool coordinates
A
B
 User Coordinates
The base axis is shifted by B and the TCP of the manipulator is shifted by A in the user coordinates.
These shifts are carried out independently.
User coordinates
User coordinates
Base coordinates
Base coordinates
A
A
B
B
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RE-CSO-A031