Panasonic VR2 Series - Tool; Shift Commands; Shift-Off; Shift-On

16-39
16-11-3. TOOL
Format
TOOL [Tool No.]
Function It switches tools. Tool No. Applied tool No. and tool name.
Condition Standard.
Lock condition None.
Syntax check None.
Example Change tool to [1:STD].
TOOL 1:STD
The same command in
conventional models
TOOL
16-12. Shift commands
16-12-1. SHIFT-OFF
Format
SHIFT-OFF
Function It terminates coordinate system shift
Condition Standard.
Lock condition None.
Syntax check None.
Example To reset shift.
SHIFT-OFF
16-12-2. SHIFT-ON
Format
SNSSFT-ON [Coordinate systems] = [Variable]
Function It starts coordinate system shift
Condition Standard.
Coordinate
systems
A coordinate system to be
shifted.
Lock condition None. Variable Shift amount. (GD, GT)
Syntax check None.
Example Shift the operation onwards on the robot coordinate system by GD001.
SHIFT-ON ROBOT = GD001
16-13. Touch Sensor commands (Optional)
16-13-1. SNSSFTLD
Format
SNSSFTLD [Variable]
Function It assigns the value of specified variable as the
sensor shift amount.
Variable Shift amount. (GD)
Condition Standard.
Lock condition None.
Syntax check Error if variable types do not match.
Example Assign GD001 as sensor shift amount.
SNSSFTGD GD001
The same command in
conventional models
LDBUF