YASKAWA NX100 User Manual

6 Convenient Functions
6.5 Mirror Shift Function
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6.5 Mirror Shift Function
6.5.1 Function Overview
With the mirror shift function, a job is converted to the job in which the path is symmetrical to that of the
original job. This conversion can be performed for the specified coordinate among the X-Y, X-Z, or Y-Z
coordinate of the robot coordinates and the user coordinates.
The mirror shift function is classified into the following three: the pulse mirror-shift function, the robot-
coordinates mirror-shift function, and the user-coordinates mirror-shift function.
6.5.2 Pulse Mirror-shift Function
With the pulse mirror-shift function, the mirror shift is performed by reversing the sign (+/-) for the axes
which are specified with the parameter in advance.
 Parameter Setting
Using the following parameter, specify the axes for which the sign is to be reversed.
S1CxG065: Mirror Shift Sign Reversing Axis Specification
Mirror shift
The original path
before the mirror shift
The converted path
after the mirror shift
S-axis
R-axis
T-axis
S-axis
R-axis
T-axis
The 1st axis (0:Not reversed, 1:Reversed)
The 6th axis
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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