Application Example Of Srsft Instruction - YASKAWA DX100 Instructions Manual

DX100

2.5.4 Application Example of SRSFT Instruction

2 Basic Operations
2.5 Search and Shift Function
Job
SFTOF3D
MOVJ VJ=60
SRSFT PTN=3 SFT=1 V=360••
MOVJ VJ=60
SRSFT PTN=3 SFT=2 V=360••
MOVJ VJ=60
SRSFT PTN=1 SFT=1 V=360••
MOVJ VJ=60
MOVL V=200
:
:
Workpiece actual position
Shift in parallel
Workpiece taught position
Shift in parallel
2-23
Cancels the 3-dimension shift.
Searches for 1st point (Shift in parallel).
Searches for 2nd point (Shift in rotation). 
Searches for 3rd point (Shift in parallel). 
Moves to the welding start point.
HW0485806
156446-1CD
Shift in
rotation
Shifts the start
point in parallel