Parallel Shifting of a program path from one area to another one without rotation
This video shows the parallel shifting of a program path from one area to another one without rotation using a Teach Pendant from a FANUC Robot.
You will find a downloadable 
PDF version at the end of this page.
DURATION
+/- 15 minutes
RECOMMENDATION
Create a backup of your original points in case something goes wrong.
WARNING!
N/A
DANGER
If parallel shifts aren’t well-executed, collisions between robots may occur.
STEP BY STEP
This procedure is use to shift a series of point positions or a whole program to another area on the same user frame without rotation. In this case, we want the robot to make the same path but in another area. The original path is kept and the new one will be executed after the original path. The original path is from line 4 to line 7 and the new path created will be added at line 9.
- PRESS –> [ MENU ]
- SELECT –> [ 1 ] 1 UTILITIES
- SELECT –> [ 6 ] 6 Program Shift (see screenshot)
- PRESS –> [ F4 ] [ CHOICE ]
- Using Arrow –> Scroll down to the program list and make a selection.
- PRESS –> [ ENTER ]
- At line 2, PRESS –> [ F4 ] [ PART ]
- At line 3, ENTER –> 4
- At line 4, ENTER –> 7
- At line 5, ENTER –> Nothing because the new path will be inserted starting at line 9.
- At line 6, ENTER –> 9 (see screenshot)
- Using Arrow –> Scroll down until the next page of the shifting tool appears .
- At line 1, PRESS –> [ F5 ] [ OFF ] (if it is not already OFF.)
- At line 2 “Source position P1:”, we will use the method of referring to a point, PRESS –> [ REFER ]
- PRESS –>[ F4 ] P[ ]
- PRESS –>[ 1 ] Because it is the point number from which the path will be shifted.
- PRESS –> [ ENTER ]
- Move the robot where which the shifted new path will start from.
- PRESS –> [ SHIFT and F5 ] SHIFT RECORD
- PRESS –> [ F2 ] EXECUTE (see screenshot)
- PRESS –> [ F4 ] YES
- The shifted line were added stating at line 9. The source lines were kept at lines 4 to 7. (see screenshot)
