YASKAWA DX100 - Notes on the Mirror Shift Function

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155507-1CD
RE-CSO-A037
DX100
6 Convenient Functions
6.6 Mirror Shift Function
6.6.5 Notes on the Mirror Shift Function
For manipulators, such as a polishing wrist, whose center of S-axis
rotation and T-axis rotation are offset in the X-coordinate direction, the
mirror shift cannot correctly be performed by the pulse mirror-shift
function. Be sure to use the robot-coordinates mirror-shift function or use
the user-coordinates mirror-shift function with the user coordinates
specified on the center of the T-axis rotation.
(1) Using the Robot-coordinates Mirror-shift Function 
When the robot-coordinates mirror-shift function is performed, the
mirror shift is performed on the X-Z coordinate of the robot coordi-
nates. The path of the converted job is as follows:
(2) Using the User-coordinates Mirror-shift Function 
To use the user-coordinates mirror-shift function, specify the user
coordinates on the center of T-axis rotation in advance.
Robot-coordinates Mirror-shift Conversion
Before conversionAfter conversion
User-coordinates Mirror-shift Conversion
After conversion Before conversion
User coordinates
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