YASKAWA DX100 - Using Files; Weaving Basic Coordinate System

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155507-1CD
RE-CSO-A037
DX100
9 General Purpose Application
9.3 Using Files
9.3 Using Files
9.3.1 Weaving Basic Coordinate System
Weaving is performed based on the following coordinate system. This
coordinate system is automatically generated according to the conditions
described in a weaving condition file.
Wall Direction: Z-direction of the robot axis
Horizontal Direction: The direction of approach point from the wall
Direction of Travel: The direction in which the manipulator moves from the
weaving start point to the end point
SUPPLE-
MENT
The approach point is a point indicated by a step
immediately before the step where weaving starts.
NOTE
Depending on the mounting and shape of the workpiece, a
definition of the above coordinate system may not be
sufficient to generate a weaving pattern. In that case,
register the reference point REFP1 or REFP2. For details,
refer to
section 9.3.3.3 “Cases that Require the Registration
of Reference Points” on page 9-34 “.
Horizontal direction
Weaving Basic Coordinate System
Direction of travel
Wall direction
Wall direction
Z-axis
Horizontal
direction
Approach point
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