4.3.6 Mirror Image

You can write a program in which the position of the S axis and the posture of the wrist axis are symmetrical based on the Y-Z plane at the 0° position of the S axis of the robot.

This function is useful when instructing two robots on the left and right to perform the same operation, such as welding the body of a vehicle. First, teach an operation to one robot and then open the program of the taught operation and convert it into a mirror image. Then, a program symmetrical to the S axis will be written.

Figure 32 Original Program (Left) / Program Converted Through Mirror Image (Right)

The mirror image function is not supported for collaborative robots.

The use of the [6: Mirror Image] menu will be restricted during the startup of the robot. The method to use the mirror image function is as follows.

1. Touch the [6: Program Conversion > 6: Mirror Image] menu. Then, the mirror image setting window will appear.

2. After setting the mirror image conversion option, touch the [OK] button.

• [Source program]/[Target program]: You can set the number of the existing program and the number of the new program that is to be created through conversion using a mirror image.