YASKAWA FS100 - Page 229

2 INFORM Explanation
FS100 2.5 Shift Instruction : MSHIFT
2-206
1. PX Variable number/LPX Variable number/PX [Array
number]/LPX [Array number]
Add the following tag.
2. BF/RF/TF/UF# (User coordinate number)/MTF
Choose one of the tags from the following table.
3. PX Variable number/LPX Variable number/PX [Array
number]/LPX [Array number]
Add the following tag.
Explanation
No. Tag Explanation Note
1 PX Variable number/
LPX Variable
number/
PX [Array number]/
LPX [Array number]
Specifies the number of the expanded position variable
to store the calculated shift.
<Data 1>
No. Tag Explanation Note
2 BF Specifies the calculation of the shift amount in the base
coordinate system.
3 RF Specifies the calculation of the shift amount in the robot
coordinate system.
4 TF Specifies the calculation of the shift amount in the tool
coordinate system.
5 UF# (User
coordinate number)
Specifies the calculation of the shift amount in the user
coordinate system.
No.: 1 to 16
Variable B/I/D/LB/LI/LD
can be used.
6 MTF Specifies the calculation of the shift amount in the
master tool coordinate system.
Available only with the
optional independent/
coordinated function.
No. Tag Explanation Note
7 PX Variable number/
LPX Variable
number/
PX [Array number]/
LPX [Array number]
Specifies the expanded position type variable number
of the reference position to calculate the amount of the
shift.
<Data 2>