Used Robots.com: Motoman XRC Basic Programming

Created: 99-02-09 Revised: 99-07-15 Operato r’s manual MOTOMAN XRC Page: 179 Parallel shift job conversion function MOTOMAN ROBOTICS EUROPE 6.3 Parallel shift job conversion function 6.3.A Parallel shift job conversion If the manipulator and base positions are moved after a job has been taught, the
entire job has to be modified. The parallel shift conversion function shortens the
modification time required in cases like this by shifting all steps of the job by the
same value to create a new job. When parallel shift conversion is performed, all job steps are shifted by the same
value. Note! Steps Outside the Motion Range /OV is displayed for steps which result in a position outside the working envelope
of the manipulato r. When the position is corrected, /OV display disappears. Position Variable Position variables are not subject to parallel shift job conversion. Not Converted Job The following jobs can not be converted. If conversion is attempted, no operation
is performed. n Coordinates for Conversion When performing parallel shift job conversion, it is necessary to specify the coor-
dinates in which the conversion is to be performed. The shift coordinates can be
selected from the following: 4 Base Coordinates
4 Robot Coordinates
4 Tool Coordinates
4 User Coordinates (24 types)
4 Master Tool Coordinates (R1+R2 job)
4 Joint Coordinates In the case of an ordinary job for which group axes are registered, shift conver-
sion is performed in accordance with the selected coordinate system. The rela-


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