10.4.3.6. SONL

10.4.3.6. SONL

 

The online shift function is for parallel shift of a previous teaching position to any position on X, Y, Z coordinates based on the shift amount transmitted from outside devices such as visual equipment. Usually, online shift is based on robot coordinates system, but tool coordinates system or base coordinates system can be also used.

 

Explanation	Online shift
Grammar	SONL ST=<st./end>,CRD=<ref.>[,<User coordinate number>], R=<register number>, <Exit address>
Parameter	st./end	If 1, shift application starts. If 0, it ends, and the rest factors are ignored.	0~1
	Reference coordinate	0=Base, 1=Robot, 2=Tool, 3=User, 4=User n	0~4
	User coordinate number	User coordinate number when reference coordinate is used	0,1~10
	register number	Register in which transmitted shift amount is inputted.	1~8
	Exit address	Address to exit to when shift is not entered within the given time	Row number Step number Label
Example	SONL ST=1,CRD=1,R=1,S99

 

 

 

l  Related function

 

①    Shift request amount function (SREQ)

②    Timer conditional shift amount request function (SREQT)