Motoman XRC 2001, Operator'S Manual

Page: 272 / 387

6.2 Parallel Shift Function
6-7
6.2.2
Setting the Shift Value
n
Registering Position Variables
The XRC has 128 position variables (P000 to P127); these can be used to define parallel shift
values. When using the parallel shift function it is necessary to measure the distance between
the teaching point and the shift destination position (XYZ displacement of each coordinate)
and then register this in advance as a position variable.
When the shift instruction is executed in playback, the operation is performed at a location
shifted from the taught position by the amount registered for the specified position variable.
The position variable display is shown in the following.
n
Coordinates
The shift value for parallel shift is X, Y, and Z increment in each coordinates. There are four
coordinates: base coordinates, robot coordinates, tool coordinates, and user coordinates. In
systems with no travel axes, the base coordinates and robot coordinates are the same.
Amount of
shift (mm)
Amount of
wrist
displacement
(° )
D A T A
E D I T D I S P L A Y U T I L I T Y
P O S I T I O N V A R I A B L E
# P 0 00 [ROBOT ] NAME:APPLI-A
R1:X
-200.000 TOOL :00
Y 0.000
Z 500.000 <TYPE>
Rx 0.00 REAR S>=180
Ry 0.00 UP R>=180
Rz 0.00 NO FLIP T< 180
!
R 1 S C
L
=> S F T O N P 0 0 0