YASKAWA DX100 Operator's Manual

11 Table of Basic Instructions
DX100 11.4 Shift Instructions
11-8
11.4 Shift Instructions
SFTON Function Starts a shift operation.
Additional
Item
P<variable number>,
BP<variable number>,
EX<variable number>,
BF,RF,TF,
UF#(<user coordinate number>)
BF:
base coordinates
RF:
robot coordi-
nates
TF:
tool coordinates
UF:
user coordinates
Example SFTON P001 UF#(1)
SFTOF Function Stops a shift operation.
Additional
Item
Example SFTOF
MSHIFT Function Obtains the shift value in the specified coordinate system from Data 2 and
3, and stores the obtained element values in Data 1.
Format:MSHIFT <Data1><Coordinate><Data2><Data3>
Additional
Item
Data1 PX<variable number>
Coordinate BF,RF,TF,
UF# (<user coordinate number>),
MTF
BF:
base coordinates
RF:
robot coordi-
nates
TF:
tool coordinates
UF:
user coordinates
MTF:
tool coordinates
for the master
Data2 PX<variable number>
Data3 PX<variable number>
Example MSHIFT PX000 RF PX001 PX002
546 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