YASKAWA NX100 - Shift Instructions

10 Table of Basic Instructions
10.4 Shift Instructions
10-11
149235-1CD
RE-CSO-A031
10.4 Shift Instructions
SFTON
Function
Starts a shift operation.
Additional
Item
P<variable number>,
BP<variable number>,
EX<variable number>,
BF,RF,TF,
UF#(<user coordinate number>)
BF:
base
coordinates
RF:
robot
coordinates
TF:
tool
coordinates
UF:
user
coordinates
Example
SFTON P001 UF#(1)
SFTOF
Function
Stops a shift operation.
Additional
Item
Example
SFTOF
MSHIFT
Function
Obtains the shift value in the specified coordinate system from
Data 2 and 3, and stores the obtained element values in Data 1.
Format:MSHIFT <Data1><Coordinate><Data2><Data3>
Additional
Item
Data1 PX<variable number>
Coordinat
e
BF,RF,TF,
UF# (<user coordinate number>),
MTF
BF:
base
coordinates
RF:
robot
coordinates
TF:
tool
coordinates
UF:
user
coordinates
MTF:
tool
coordinates for
the master
Data2 PX<variable number>
Data3 PX<variable number>
Example
MSHIFT PX000 RF PX001 PX002
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