Motoman XRC 2001, Руководство оператора

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6.2 Parallel Shift Function
6-8
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Setting the Shift Value
When setting the shift value for the position variables, use the current position (coordinates) of
the manipulator in the display.
The shift value is the X, Y, and Z difference between the shift position and teaching position
and the difference in angular displacement RX, RY, And RZ (normally set at “0”). If shifting is
executed at equal pitch intervals, for example for palletizing, find the difference between the
teaching position and the final shift position, then divide by the number of pitch intervals (num-
ber of divisions) to calculate the shift value per pitch.
The posture of the wrist is defined by the angular displacement of the coordinates of the wrist
axes. Consequently, if the shift value is specified with X, Y, and Z only (RX, RY, RZ=0), the
wrist is shifted while maintaining the same posture as at the teaching point. Since shifting is
normally performed without changing the posture, there is no need to specify an angular dis-
placement for the wrist. The motion when a parallel shift is performed is shown in the follow-
ing:
C U R P O S
COORDINATE:USER COORD UF#01 TOOL:00
R1:X 5.360 mm Rx -179.91 deg.
Y 66.080 mm Ry -2.17 deg.
Z 316.940 mm Rz -102.89 deg.
< R O B O T T Y P E >
FRONT S>= 180
UP R< 180
NO FLIP T>= 180
Position to be shifted (Operate the
manipulator using the programming
pendant)
Differences are assumed to be shift amounts
T E A C H
P O S I T I O N
R1 S C
L
D A T A
EDIT DISPLAY UTILITY
POSITION VARIABLE
#P00 0 [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
!
C U R P O S
COORDINATE:USER COORD UF#01 TOOL:00
R1:X 5.360 mm Rx -179.91 deg.
Y 66.080 mm Ry -2.17 deg.
Z 416.940 mm Rz -102.89 deg.
< R O B O T T Y P E >
FRONT S>= 180
UP R< 180
NO FLIP T>= 180