4.3.1. XYZ Shift Register

4.3.1. XYZ Shift Register

 

XYZ shift register can be changed manually without 『SXYZ』command.   XYZ shift is a horizontal move function which shifts to other XYZ coordinates, maintaining a previously taught position. As seen on the right side, a source program with A, B, C, D can be horizontally shifted to a, b, c, d without additional teaching by using the XYZ shift function. Initialization to 0 will take place after the relevant cycle (Program end is executed).

Figure 4.7 XYZ shift

 

(1)   Selection 『[F1]: Service』 → 『2: Register』 → 『1: XYZ Shift Register』.

 

 

(2)   Input data in X, Y, Z and press [ENTER]. To store changed setup, press 『[F7]: Complete』. If [ESC] is pressed, changed data will not be stored.

 

 

l  If a shift value is set in 『SXYZ』command, a register value will be automatically renewed.

 

l  The change in the XYZ shift register during the operation of the robot is to be reflected when the next execution is implemented, once after the operation of the robot stops.