6 Convenient Functions6.2 Parallel Shift Function6-6149235-1CDRE-CSO-A031 Setting the Shift ValueWhen setting the shift value for the position variables, use the current position (coordinates) of themanipulator in the window.The shift value is the X, Y, and Z difference between the shift position and teaching position and thedifference in angular displacement RX, RY, and RZ (normally set at “0”). If shifting is executed at equalpitch intervals, for example for palletizing, find the difference between the teaching position and the finalshift position, then divide by the number of pitch intervals (number of divisions) to calculate the shiftvalue per pitch.DATA EDIT DISPLAY UTILITYDATA EDIT DISPLAY UTILITY DATA EDIT DISPLAY UTILITYMain Menu ShortCutPOSITION VARIABLE#P000R1:XYZRxRyRzROBOT-100.0000.000-100.0000.000.000.00CUR POSCOORDINATE USER COORD #01 TOOL: 00Differences are assumed to be shift amounts.Position to be shifted(Move the manipulator using the programming pendant.)R1: XYZ5.360 mm66.080 mm316.940 mmRxRyRz-179.91 deg-2.17 deg-102.89 degFRONTUPNO FLOPS>= 180R>= 180T< 180Teaching positionCUR POSCOORDINATE USER COORD #01 TOOL: 00R1: XYZ105.360 mm66.080 mm416.940 mmRxRyRz-179.91 deg-2.17 deg-102.89 degFRONTUPNO FLIPS>= 180R>= 180T< 180NAME:TOOL: 00FRONT S>=180UP R>=180FLIP T< 180L2Teaching positionL1Final shift positionL2= Number of pitchesL1203 of 493
