YASKAWA NX100 User Manual

6 Convenient Functions
6.2 Parallel Shift Function
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RE-CSO-A031
The posture of the wrist is defined by the angular displacement of the coordinates of the wrist axes.
Consequently, if the shift value is specified with X, Y, and Z only (RX, RY, RZ=0), the wrist is shifted
while maintaining the same posture as at the teaching point. Since shifting is normally performed
without changing the posture, there is no need to specify an angular displacement for the wrist. The
motion when a parallel shift is performed is shown in the following:
The shift value is calculated on the position data window for the coordinates in which the shift is
performed. Since this is normally performed in the user coordinates, the position data window for the
user coordinates is used.
6.2.3 Registering Shift Instructions
To register the instruction, move the cursor to the address area in the JOB CONTENT window during
teach mode as follows:
Operation Explanation
1 Select {JOB} under the main
menu.
2 Select {JOB}. The JOB CONTENT window appears.
3 Move the cursor to the
address area.
Shift value
Teaching posture
Shift without changing the wrist posture
(RX,RY,RZ=0)
Shift with wrist posture change
(RX,RY,RZ ≠ 0)
JOB
UTILITY
EDIT
DISPLAY
Main Menu ShortCut
!Turn on servo power
JOB CONTENT
0000 NOP
0001 SET B000 0
0002 SET B001 1
0003 MOVJ VJ=80.00
0004 MOVJ VJ=80.00
0005 DOUT OGH#(13) B002
0006 DOUT OT#(41) ON
0007 MOVL C00002 V=880.0 CV#(1) CTP=0.662
0008 DOUT OT#(44) ON
0009 TIMER T=3.0
0010 MOVL V=880.0
0011 MOVL V=880.0
0012 MOVL V=880.0
0013 MOVL V=880.0
JOB NAME: TEST01
Address area
Instruction area
TOOL: 00
CONTROL GROUP: R1
STEP NO: 0003
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YASKAWA NX100 Specifications

General

Manufacturer	YASKAWA
Model	NX100
Operating Temperature	0 to 45°C
Humidity	20 to 80% RH (non-condensing)
Communication Interfaces	Ethernet
Safety Standards	ISO 10218-1
Power Supply	200-230V AC, 50/60Hz
Storage Temperature	60°C