YASKAWA DX100 - Example of Use of MSHIFT Instruction

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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
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