Shift Instructions - YASKAWA DX100 Operator's Manual

DX100
11.4
SFTON Function
Additional
Item
Example
SFTOF Function
Additional
Item
Example
MSHIFT Function
Additional
Item
Example
11 Table of Basic Instructions

11.4 Shift Instructions

Shift Instructions
Starts a shift operation.
P<variable number>,
BP<variable number>,
EX<variable number>,
BF,RF,TF,
UF#(<user coordinate number>)
SFTON P001 UF#(1)
Stops a shift operation.
SFTOF
Obtains the shift value in the specified coordinate system from Data 2 and
3, and stores the obtained element values in Data 1.
Format:MSHIFT <Data1><Coordinate><Data2><Data3>
Data1 PX<variable number>
Coordinate BF,RF,TF,
UF# (<user coordinate number>),
MTF
Data2 PX<variable number>
Data3 PX<variable number>
MSHIFT PX000 RF PX001 PX002
11-8
BF:
base coordinates
RF:
robot coordi-
nates
TF:
tool coordinates
UF:
user coordinates
BF:
base coordinates
RF:
robot coordi-
nates
TF:
tool coordinates
UF:
user coordinates
MTF:
tool coordinates
for the master
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