10.4.3.8. SXYZ

10.4.3.8. SXYZ

 

This function is for parallel shift of previous teaching points while tool angle is maintained on XYZ plane. Three-dimension shift amount is executed after being stored in XYZ shift register.

 

Explanation	XYZ shift
Grammar	SXYZ CRD=<reference>[,<User coordinate number>],X=<X shift amount>,Y=<Y shift amount>,Z=<Z shift amount>
Parameter	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
	Shift amount	Shift amount for three-dimension parallel shift	-3000.0~3000.0
Example	SXYZ CRD=0,X=10.50,Y=20.50,Z=0.00

 

 

 

l  XYZ shift function operation

The length of X, Y, Z should be exactly equal to the length to GUN mechanical interface, because the slant angle of GUN should be maintained for this parallel shift.