Motoman XRC 2001, Operator'S Manual

Page: 277 / 387

6.2 Parallel Shift Function
6-12
*1
*2
The instruction list dialog is displayed.
*3
The SFTOF instruction is displayed in the input buffer line.
*4
The SFTOF instruction is registered.
n
MSHIFT Instruction
When a parallel shift of the wrist posture is attempted, the manipulator may not necessarily be
shifted to the target posture in the following cases.
In such cases, the MSHIFT instruction can be used to automatically calculate the optimum
shift value for an operation to reach the target shift position and posture. With an MSHIFT
instruction, the shift value between the reference position and target position (shift position)
when parallel shift is performed is determined in the specified coordinate system, and set as
the specified position variable.
• Posture displacement (Rx, Ry, Rz) is specified to the shift value set by the
user.
• When a displacement between two points is calculated using an INFORM
operating instruction (ADD instruction, SUB instruction, etc.), and a pos-
ture displacement (Rx, Ry, Rz) is specified in the shift value.
Move the cursor to inserting line
*1
Press [INFORM LIST]
*2
Select [SHIFT]
Select “MSHIFT” instruction
*3
Change the number data or additional items
*4
Press [INSERT] and then [ENTER]
*5
Explanation
0030 M O V L V = 138
0031 M O V L V = 138
L in e im m e d ia te ly
b e fo re w h e re
S F T O F
in s tru c tio n is to
b e re g is te re d
=> S F T O F
0030 M O V L V = 1 3 8
0031 S F T O F
0032 MOVL V=138
O peration