Mirror Shift Function - YASKAWA NX100 Operator's Manual

149235-1CD
6.5

Mirror Shift Function

6.5.1
Function Overview
With the mirror shift function, a job is converted to the job in which the path is symmetrical to that of the
original job. This conversion can be performed for the specified coordinate among the X-Y, X-Z, or Y-Z
coordinate of the robot coordinates and the user coordinates.
The mirror shift function is classified into the following three: the pulse mirror-shift function, the robot-
coordinates mirror-shift function, and the user-coordinates mirror-shift function.
before the mirror shift
6.5.2
Pulse Mirror-shift Function
With the pulse mirror-shift function, the mirror shift is performed by reversing the sign (+/-) for the axes
which are specified with the parameter in advance.
 Parameter Setting
Using the following parameter, specify the axes for which the sign is to be reversed.
S1CxG065: Mirror Shift Sign Reversing Axis Specification
Mirror shift
The original path
R -ax i s
T-a x is
S -ax is
The 1st axis (0:Not reversed, 1:Reversed)
The 6th axis
6-42
6 Convenient Functions
6.5 Mirror Shift Function
The converted path
after the mirror shift
R - ax i s
T- ax is
S - ax i s
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