Coordinate Systems For Conversion - YASKAWA DX100 Operator's Manual

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DX100

6.4.2 Coordinate Systems for Conversion

6 Convenient Functions
6.4 Parallel Shift Job Conversion Function
When performing the parallel shift job conversion, it is necessary to
specify the coordinate systems in which the conversion is to be
performed. The coordinate system can be selected from the following:
• Base coordinates
• Robot coordinates
• Tool coordinates
• User coordinates (64 types)
• Master tool coordinates (R*+R* job)
• Pulse coordinates
In the case of an ordinary job for which group axes are registered, shift
conversion is performed in accordance with the selected coordinate
system. The relationship between group combinations and coordinates
are shown in the following table.
1 to 4 in the table are followed by their explanations.
Table 6-2: Relationship Between Group Combinations and Coordinates at
Conversion
Group Explanation
Combination
Usable Coordinate System
in Job
R Shift is performed on the basis of selected coordinates.
Base coordinates, robot coordinates, tool coordinates, user
coordinates, pulse coordinates
R(B) Shift is performed on the basis of selected coordinates.
1. Base
Coordinates
2. Robot
Coordinates
3. Tool
Coordinates
4. User
Coordinates
5. Pulse
Coordinates
S Shift is performed on the basis of pulse values regardless of the
coordinates.
6-27
The base axis is shifted by the
specified amount and the TCP of the
manipulator is shifted by the specified
amount in the base coordinates.
The base axis is shifted by the
specified amount. 
The TCP of the manipulator is shifted
by the specified amount in the robot
coordinates. These shifts are carried
out independently.
The base axis is shifted by the
specified amount. 
The TCP of the manipulator is shifted
by the specified amount in the tool
coordinates. These shifts are carried
out independently.
The base axis is shifted by the
specified amount and the TCP of the
manipulator is shifted by the specified
amount in the user coordinates.
The taught position of each axis is
shifted by the specified amount on the
basis of pulse values.
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