6 Convenient Functions6.2 Parallel Shift Function6-10149235-1CDRE-CSO-A031 SFTOF InstructionThis is the instruction that ends a parallel shift. MSHIFT InstructionWhen a parallel shift of the wrist posture is attempted, the manipulator may not be shifted to the targetposture in the following cases.• Posture displacement (Rx, Ry, Rz) is specified to the shift value set by the user.• When a displacement between two points is calculated using an INFORM operatinginstruction (ADD instruction, SUB instruction, etc.), and a posture displacement (Rx, Ry,Rz) is specified in the shift value.In such cases, the MSHIFT instruction can be used to automatically calculate the optimum shift valuefor an operation to reach the target shift position and posture. With an MSHIFT instruction, the shiftvalue between the reference position and target position (shift position) when parallel shift is performedis determined in the specified coordinate system, and set as the specified position variable.Operation Explanation1 Move the cursor to the lineimmediately before where theSFTOF instruction is to beregistered.2 Press [INFORM LIST]. The instruction list dialog box appears.3 Select {SHIFT}.4 Select the SFTOF instruction. The SFTOF instruction is displayed in the input buffer line.5 Press [INSERT] and then[ENTER].The SFTOF instruction is registered.0030 MOVL V=1380031 MOVL V=138Line immediatelybefore whereSFTOF instructionis to be registered.SFTOF0030 MOVL V=1380031 SFTOF0032 MOVL V=138207 of 493