YASKAWA DX100 Operator's Manual page 268

DX100

6 Convenient Functions
6.4 Parallel Shift Job Conversion Function
Table 6-2: Relationship Between Group Combinations and Coordinates at
Conversion
The manipulator is shifted in the selected coordinates. 
R+S
The station axis is shifted on the basis of pulse values regardless
of the coordinates.
Base coordinates, robot coordinates, tool coordinates, user
coordinates, pulse coordinates
R(B)+S The manipulator is shifted in the selected coordinates, as in 1 to
5 above. 
The station axis is shifted on the basis of pulse values regardless
of the coordinates.
R+R Two manipulators are shifted in the selected coordinates.
Base coordinates, robot coordinates, tool coordinates, user
coordinates, master tool coordinates
R(B)+R(B) Two manipulators are shifted in the selected coordinate system,
as in 1 to 5 above. Two base axes are also shifted.
1 In the master tool coordinates, conversion only occurs at the "slave" from the
standpoint of the SMOV instruction.
About 1 to 4 in the Table
1. Base Coordinates
The base axis is shifted by B and the TCP of the manipulator is shifted
by A in the base coordinates.
Base coordinates
Base
6-28
1)
A
B
RE-CSO-A037
155507-1CD
, pulse coordinates
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