YASKAWA DX100 Operator's Manual page 256

DX100
6 Convenient Functions
6.3 Parallel Shift Function
The shift value is the X, Y, and Z difference between the shift position and
teaching position and the difference in angular displacement RX, RY, And
RZ (normally set at "0"). If shifting is executed at equal pitch intervals, for
example for palletizing, find the difference between the teaching position
and the final shift position, then divide by the number of pitch intervals
(number of divisions) to calculate the shift value per pitch.
L2
Teaching position
The posture of the wrist is defined by the angular displacement of the
coordinates of the wrist axes. Consequently, if the shift value is specified
with X, Y, and Z only (RX, RY, RZ=0), the wrist is shifted while maintaining
the same posture as at the teaching point. Since shifting is normally
performed without changing the posture, there is no need to specify an
angular displacement for the wrist. The motion when a parallel shift is
performed is shown in the following:
Teaching posture
The shift value is calculated on the position data window for the
coordinates in which the shift is performed. Since this is normally
performed in the user coordinates, the position data window for the user
coordinates is used.
6-16
L1
Final shift position
Shift without changing the wrist posture
(RX,RY,RZ=0)
Shift with wrist posture change
(RX,RY,RZ
Shift value
155507-1CD
L1
L2=
Number of pitches
0)
RE-CSO-A037
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