YASKAWA DX100 Operator's Manual

6-25
155507-1CD
RE-CSO-A037
DX100
6 Convenient Functions
6.3 Parallel Shift Function
6.3.5.2 Example of Use of MSHIFT Instruction
Line Instruction Explanation
0000 NOP
0001 MOVJ VJ=20.00 Move the manipulator to the
reference position.
0002 GETS PX000 $PX000 Set the reference position as
position variable P000.
0003 MOVJ VJ=20.00 Move the manipulator to the
target position.
0004 GETS PX001 $PX000 Set the target position as position
variable P001.
0005 MSHlFT PX010 BF PX000 PX001 Set shift value and set it as
position variable P010.
0006 END
265 of 554

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