Parallel Shift Function; Function Overview - YASKAWA DX100 Operator's Manual

155507-1CD
DX100
6.3

6.3.1 Function Overview

6 Convenient Functions

6.3 Parallel Shift Function

Parallel Shift Function
Parallel shift refers to the shifting of an object from a fixed position in such
a way that all points within the object move an equal distance. In the
model for parallel shift shown in the following, the shift value can be
defined as the distance L (three-dimensional coordinate displacement).
The parallel shift function is relevant to the actual operation of the
manipulator because it can be used to reduce the amount of work
involved in teaching by shifting a taught path (or position).
In the example in the figure below, the taught position A is shifted in
increments of the distance L (this is actually a three-dimensional XYZ
displacement that can be recognized by the robot) in order to enable the
operation that was taught at position A to also be performed at positions B
through G.
B
A
L
Teaching position
6-13
F
C D
E
RE-CSO-A037
G
253 of 554