![background image](http://html.mh-extra.com/html/omron/scara-yrcx-series/scara-yrcx-series_programming-manual_1633413413.webp)
7
8
9
10
11
12
13
Basic operation 11-3
1.3
Using shift coordinates
■
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
Содержание SCARA YRCX Series
Страница 1: ... 7 6HULHV DW 1R 1 5 5RERW RQWUROOHU 352 5 00 1 0 18 6 5 5RERWV 5 6HULHV ...
Страница 2: ......
Страница 20: ......
Страница 26: ......
Страница 27: ...Chapter 2 Constants 1 1 Outline 2 1 2 2 Numeric constants 2 1 3 3 Character constants 2 2 ...
Страница 28: ......
Страница 32: ......
Страница 52: ......
Страница 54: ......
Страница 61: ...Chapter 5 Multiple Robot Control 1 1 Overview 5 1 2 2 Command list with a robot setting 5 2 ...
Страница 62: ......
Страница 66: ......
Страница 76: ......
Страница 78: ......
Страница 92: ......
Страница 328: ......
Страница 408: ......
Страница 409: ...Chapter 11 User program examples 1 1 Basic operation 11 1 2 2 Application 11 8 ...
Страница 410: ......
Страница 432: ......
Страница 488: ......
Страница 489: ...Chapter 13 Appendix 1 1 Reserved word list 13 1 2 2 Changes from conventional models 13 3 ...
Страница 490: ......
Страница 496: ......
Страница 497: ...Index ...
Страница 498: ......
Страница 504: ......
Страница 505: ......
Страница 506: ... DW 1R 1 XWKRUL HG LVWULEXWRU 3ULQWHG LQ XURSH ...