Notes On The Mirror Shift Function - YASKAWA DX100 Operator's Manual

155507-1CD
DX100

6.6.5 Notes on the Mirror Shift Function

6 Convenient Functions
6.6 Mirror Shift Function
For manipulators, such as a polishing wrist, whose center of S-axis
rotation and T-axis rotation are offset in the X-coordinate direction, the
mirror shift cannot correctly be performed by the pulse mirror-shift
function. Be sure to use the robot-coordinates mirror-shift function or use
the user-coordinates mirror-shift function with the user coordinates
specified on the center of the T-axis rotation.
(1) Using the Robot-coordinates Mirror-shift Function 
When the robot-coordinates mirror-shift function is performed, the
mirror shift is performed on the X-Z coordinate of the robot coordi-
nates. The path of the converted job is as follows:
R o b o t -c o o r d i n a t e s M ir ro r -s h i ft Co n v e rs i o n
Afte r c o n v e rs i o n
(2) Using the User-coordinates Mirror-shift Function 
To use the user-coordinates mirror-shift function, specify the user
coordinates on the center of T-axis rotation in advance.
U s e r -c o o rd i n a te s M ir ro r -s h i ft Co n v e r s i o n
Afte r c o n v e rs i o n
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B e f o re c o n v e rs io n
U s e r c o o r d i n a te s
B e f o r e c o n v e rs i o n
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