Setting The Shift Value; Coordinate Systems - YASKAWA DX100 Operator's Manual

155507-1CD
DX100

6.3.2 Setting the Shift Value

6.3.2.1 Coordinate Systems

6.3.2.2 Setting the Shift Value
6 Convenient Functions
6.3 Parallel Shift Function
The shift value for parallel shift is X, Y, and Z increment in each
coordinates. There are four coordinates: base coordinates, robot
coordinates, tool coordinates, and user coordinates. In systems with no
servo track, the base coordinates and robot coordinates are the same.
Base coordinates
When setting the shift value for the position variables, use the current
position (coordinates) of the manipulator in the window.
DATA EDIT DISPLAY UTILITY
CURRENT POSITION
COORDINATE USER#01 TOOL:00
R1:X 5.360 mm Rx -179.91 deg.
Y 66.080 mm Ry -2.17 deg.
Z 316.940 mm Rz
-102.89 deg.
Re
-53.6863 deg.
<ROBOT TYPE>
S>=180
FRONT UP
UP R>=180
NO FLIP
T<180
Teaching position
DATA
POSITION VARIABLE
#P000
ROBOT
R1:X -100.000
Y
Z
-100.000
Rx
Ry
Rz
Re
Main Menu
6-15
Robot coordinates
User coordinates
User
coordinates
DATA EDIT DISPLAY
CURRENT POSITION
COORDINATE USER#01
R1:X 105.360 mm
Y 66.080 mm
Z 416.940 mm
<ROBOT TYPE>
S>=180
FRONT UP
R>=180
UP
NO FLIP T<180
Position to be shifted
(Move the manipulator using the
programming pendant.)
Differences are assumed to be shift amounts.
EDIT DISPLAY UTILITY
NAME
TOOL: 00
0.000
<TYPE>
FRONT S>=180
0.0000
UP R>=180
0.0000
0.0000 FLIP T<180
0.0000
Simple Menu
Tool coordinates
UTILITY
TOOL:00
Rx -179.91 deg.
Ry -2.17 deg.
Rz
-102.89 deg.
Re
-53.6863 deg.
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