YASKAWA NX100 - Notes on the Mirror Shift Function

6 Convenient Functions
6.5 Mirror Shift Function
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149235-1CD
RE-CSO-A031
6.5.5 Notes on the Mirror Shift Function
For manipulators, such as a polishing wrist, whose center of S-axis rotation and T-axis rotation are
offset in the X-coordinate direction, the mirror shift cannot correctly be performed by the pulse mirror-
shift function. Be sure to use the robot-coordinates mirror-shift function or use the user-coordinates
mirror-shift function with the user coordinates specified on the center of the T-axis rotation.
• Using the Robot-coordinates Mirror-shift Function
When the robot-coordinates mirror-shift function is performed, the mirror shift is
performed on the X-Z coordinate of the robot coordinates. The path of the converted job is
as follows:
• Using the User-coordinates Mirror-shift Function
To use the user-coordinates mirror-shift function, specify the user coordinates on the
center of T-axis rotation in advance.
Robot-coordinates Mirror-shift Conversion
Before conversionAfter conversion
User-coordinates Mirror-shift Conversion
After conversion Before conversion
User coordinates
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