YASKAWA NX100 User Manual

6 Convenient Functions
6.2 Parallel Shift Function
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RE-CSO-A031
6.2.5 Examples of Use
 Example of Use of Shift Addition/Subtraction
Line Instruction
0000
0001
0002
0003
0004
0005
0006
0007
0008
0009
0010
0011
0012
0013
0014
0015
0016
0017
0018
NOP
SET B000 0
SUB P000 P000
*A
MOVJ
MOVL
’Gripping workpiece
MOVL
MOVL
SFTON P000 UF#(1)
MOVL
’Releasing workpiece
SFTOF
ADD P000 P001
MOVL
MOVL
INC B000
JUMP *A IF B00<6
SFTON P000 UF#(1)
SFTOF
SUB P000 P001
Make the first shift value zero.
Step 1
Step 2
Step 3
Step 4
Shift start
Shift position Step 5
Shift end
Add the shift value for the next operation.
Step 6
Step 7
Since the shift data is retained in memory,
the same data can be used (with subtraction
instead of addition) to perform a workpiece
unloading operation.
1,7
3 4,6
2
5
Workpiece
Workpiece Stacking Operation
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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