YASKAWA DX100 Operator's Manual page 269

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DX100
6 Convenient Functions
6.4 Parallel Shift Job Conversion Function
2. Robot Coordinates
The base axis is shifted by B. The TCP of the manipulator is shifted by
A in the robot coordinates. These shifts are carried out independently.
Robot coordinates
Base coordinates
3. Tool Coordinates
The base axis is shifted by B and the TCP of the manipulator is shifted
by A in the tool coordinates. These shifts are carried out independently.
Base coordinates
4. User Coordinates
The base axis is shifted by B and the TCP of the manipulator is shifted
by A in the user coordinates. These shifts are carried out
independently.
Base coordinates
6-29
B
Tool coordinates
B
User coordinates
A
B
A
A
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