YASKAWA DX100 Operator's Manual

6-15
155507-1CD
RE-CSO-A037
DX100
6 Convenient Functions
6.3 Parallel Shift Function
6.3.2 Setting the Shift Value
6.3.2.1 Coordinate Systems
The shift value for parallel shift is X, Y, and Z increment in each
coordinates. There are four coordinates: base coordinates, robot
coordinates, tool coordinates, and user coordinates. In systems with no
servo track, the base coordinates and robot coordinates are the same.
6.3.2.2 Setting the Shift Value
When setting the shift value for the position variables, use the current
position (coordinates) of the manipulator in the window.
Base coordinates
Robot coordinates
Tool coordinates
User coordinates
User
coordinates
R1:X
Y
Z
Differences are assumed to be shift amounts.
Simple Menu
Main Menu
POSITION VARIABLE
CURRENT POSITION
COORDINATE
USER#01
TOOL:00
CURRENT POSITION
COORDINATE
USER#01
TOOL:00
R1:X
Y
Z
Rx
Ry
Rz
Re
105.360 mm
66.080 mm
416.940 mm
-179.91 deg.
-2.17 deg.
-102.89 deg.
-53.6863 deg.
S>=180
R>=180
T<180
NAME
TOOL: 00
#P000
R1:X
Y
Z
ROBOT
-100.000
0.000
-100.000
0.0000
0.0000
0.0000
0.0000
Rx
Ry
Rz
Re
<TYPE>
FRONT S>=180
UP R>=180
FLIP T<180
Rx
Ry
Rz
Re
<ROBOT TYPE>
FRONT UP
UP
NO FLIP
<ROBOT TYPE>
FRONT UP
UP
NO FLIP
5.360 mm
66.080 mm
316.940 mm
-179.91 deg.
-2.17 deg.
-102.89 deg.
-53.6863 deg.
S>=180
R>=180
T<180
EDIT
DISPLAY
UTILITY
Teaching position
DATA EDIT DISPLAY UTILITYDATA
EDIT DISPLAY UTILITYDATA
Position to be shifted
(Move the manipulator using the
programming pendant.)
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YASKAWA DX100 Specifications

General

Programming Language	Inform III
Compatible Robots	Motoman robots
Operating Temperature	0-45°C
Humidity	20-80% RH (non-condensing)
Protection Class	IP20
Interface	Ethernet
Safety Standards	ANSI/RIA R15.06-1999
Pendant	Available
I/O Capacity	1024 inputs / 1024 outputs
Storage Temperature	-10-60°C