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Basic operation 11-3
1.3
Using shift coordinates
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Overview
In the example shown below, after PTP movement from P3 to P5, the coordinate system is shifted
+140mm along the X-axis and -100mm along the Y-axis, and the robot then moves from P3 to
P5 again. The shift coordinate data is set in S1 and P3, P4, P5 are set as described in the previous
section ("1.2 Using point numbers").
SHIFT DATA
S0= 0.000 0.000
0.000 ··· 0.000
S1= 140.000 -100.000 0.000 ··· 0.000
Shift Coordinate
P3
X: 140mm shift, Y: -100mm shift
P5
P4
Y+
X+
Shift Coordinate
S0
Shift Coordinate
S1
0
140
100
33C03-R7-00
SAMPLE
SHIFT S0 ····················· Shift 0.
FOR J=3 TO 5 ···················· Repeated movement from P3 to P5.
MOVE P, P[J]
NEXT J
SHIFT S1
····················· Changed to "shift 1".
FOR K=3 TO 5 ················· Repeated movement occurs in the same
manner from P3 to P5.
MOVE P,P[K]
NEXT K
HALT
Summary of Contents for SCARA YRCX Series
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Page 27: ...Chapter 2 Constants 1 1 Outline 2 1 2 2 Numeric constants 2 1 3 3 Character constants 2 2 ...
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Page 61: ...Chapter 5 Multiple Robot Control 1 1 Overview 5 1 2 2 Command list with a robot setting 5 2 ...
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Page 409: ...Chapter 11 User program examples 1 1 Basic operation 11 1 2 2 Application 11 8 ...
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Page 489: ...Chapter 13 Appendix 1 1 Reserved word list 13 1 2 2 Changes from conventional models 13 3 ...
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