YASKAWA DX100 Operator's Manual

6-27
155507-1CD
RE-CSO-A037
DX100
6 Convenient Functions
6.4 Parallel Shift Job Conversion Function
6.4.2 Coordinate Systems for Conversion
When performing the parallel shift job conversion, it is necessary to
specify the coordinate systems in which the conversion is to be
performed. The coordinate system can be selected from the following:
• Base coordinates
• Robot coordinates
• Tool coordinates
• User coordinates (64 types)
• Master tool coordinates (R*+R* job)
• Pulse coordinates
In the case of an ordinary job for which group axes are registered, shift
conversion is performed in accordance with the selected coordinate
system. The relationship between group combinations and coordinates
are shown in the following table.
1 to 4 in the table are followed by their explanations.
Table 6-2: Relationship Between Group Combinations and Coordinates at
Conversion
Group
Combination
in Job
Explanation
Usable Coordinate System
R Shift is performed on the basis of selected coordinates.
Base coordinates, robot coordinates, tool coordinates, user
coordinates, pulse coordinates
R(B) Shift is performed on the basis of selected coordinates.
1. Base
Coordinates
The base axis is shifted by the
specified amount and the TCP of the
manipulator is shifted by the specified
amount in the base coordinates.
2. Robot
Coordinates
The base axis is shifted by the
specified amount. 
The TCP of the manipulator is shifted
by the specified amount in the robot
coordinates. These shifts are carried
out independently.
3. Tool
Coordinates
The base axis is shifted by the
specified amount. 
The TCP of the manipulator is shifted
by the specified amount in the tool
coordinates. These shifts are carried
out independently.
4. User
Coordinates
The base axis is shifted by the
specified amount and the TCP of the
manipulator is shifted by the specified
amount in the user coordinates.
5. Pulse
Coordinates
The taught position of each axis is
shifted by the specified amount on the
basis of pulse values.
S Shift is performed on the basis of pulse values regardless of the
coordinates.
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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