Example Of Use Of Mshift Instruction - YASKAWA DX100 Operator's Manual

DX100

6.2.5.2 Example of Use of MSHIFT Instruction

6 Convenient Functions
6.2 Parallel Shift Function
Line Instruction
0000 NOP
0001 MOVJ VJ=20.00
0002 GETS PX000 $PX000
0003 MOVJ VJ=20.00
0004 GETS PX001 $PX000
0005 MSHlFT PX010 BF PX000 PX001 Set shift value and set it as
0006 END
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6-15
Explanation
Move the manipulator to the
reference position.
Set the reference position as
position variable P000.
Move the manipulator to the
target position.
Set the target position as position
variable P001.
position variable P010.
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