Motoman XRC 2001, Operator'S Manual

Page: 282 / 387

6.3 Parallel Shift Job Conversion Function
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6.3
Parallel Shift Job Conversion Function
6.3.1
Parallel Shift Job Conversion
If the manipulator and base positions are moved after a job has been taught, the entire job has
to be modified. The parallel shift conversion function shortens the modification time required in
cases like this by shifting all steps of the job by the same value to create a new job.
When parallel shift conversion is performed, all job steps are shifted by the same value.
n
Coordinates for Conversion
When performing parallel shift job conversion, it is necessary to specify the coordinates in
which the conversion is to be performed. The shift coordinates can be selected from the fol-
lowing:
• Base Coordinates
• Robot Coordinates
• Tool Coordinates
• User Coordinates (24 types)
• Master Tool Coordinates (R1+R2 job)
• Joint Coordinates
In the case of an ordinary job for which group axes are registered, shift conversion is per-
formed in accordance with the selected coordinate system. The relationship between group
combinations and coordinates are shown in the table as follow.
Steps Outside the Motion Range
/OV is displayed for steps which result in a position outside the working envelope of the
manipulator. When the position is corrected, /OV display disappears.
Position Variable
Position variables are not subject to parallel shift job conversion.
Not Converted Job
The following jobs can not be converted. If conversion is attempted, no operation is per-
formed.
N OT E