Shift Instructions - YASKAWA NX100 Operator's Manual

10 Table of Basic Instructions

10.4 Shift Instructions

10.4 Shift Instructions
Function
SFTON Additional
Example
Function
SFTOF Additional
Example
Function
MSHIFT
Additional
Example
Starts a shift operation.
P<variable number>,
BP<variable number>,
EX<variable number>,
BF,RF,TF,
UF#(<user coordinate number>)
Item
SFTON P001 UF#(1)
Stops a shift operation.
Item
SFTOF
Obtains the shift value in the specified coordinate system from
Data 2 and 3, and stores the obtained element values in Data 1.
Format:MSHIFT <Data1><Coordinate><Data2><Data3>
Data1
Coordinat BF,RF,TF,
e UF# (<user coordinate number>),
MTF
Item
Data2 PX<variable number>
Data3 PX<variable number>
MSHIFT PX000 RF PX001 PX002
10-11
PX<variable number>
149235-1CD
BF:
base
coordinates
RF:
robot
coordinates
TF:
tool
coordinates
UF:
user
coordinates
BF:
base
coordinates
RF:
robot
coordinates
TF:
tool
coordinates
UF:
user
coordinates
MTF:
tool
coordinates for
the master
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