Used Robots.com: Motoman XRC Basic Programming

Created: 99-02-09 Revised: 99-07-15 Operato r’s manual MOTOMAN XRC Page: 167 Parallel shift function MOTOMAN ROBOTICS EUROPE 6.2 Parallel shift function 6.2.A Parallel shift function Parallel shift refers to the shifting of an object from a fixed position in such a way
that all points within the object move an equal distance. In the model for parallel
shift shown in the following, the shift value can be defined as the distance 12
(three-dimensional coordinate displacement). The parallel shift function is rele-
vant to the actual operation of the manipulator because it can be used to reduce
the amount of work involved in teaching by shifting a taught path (or position). In the example in the figure below, the taught position A is shifted in increments of
the distance (this is actually a three-dimensional XYZ displacement that can be
recognized by the robot) in order to enable the operation that was taught at posi-
tion A to also be performed at positions B through G. The block from the S FTON to the SFTOF instructions is subject to the shift opera-
tion. Shift length A B C D E F G L Teaching point


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