YASKAWA DX100 - Types of Coordinate Systems

2 Manipulator Coordinate Systems and Operations
2.1 Control Groups and Coordinate Systems
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DX100
2.1.2 Types of Coordinate Systems
The following coordinate systems can be used to operate the manipulator:
• Joint Coordinates 
Each axis of the manipulator moves independently. 
• Cartesian Coordinates 
The tool tip of the manipulator moves parallel to any of the X-, Y-,
and Z-axes. 
• Cylindrical Coordinates 
The  axis moves around the S-axis. The R-axis moves parallel to
the L-axis arm. For vertical motion, the tool tip of the manipulator
moves parallel to the Z-axis. 
• Tool Coordinates 
The effective direction of the tool mounted in the wrist flange of the
manipulator is defined as the Z-axis. This axis controls the
coordinates of the end point of the tool. 
• User Coordinates 
The XYZ-cartesian coordinates are defined at any point and angle. 
The tool tip of the manipulator moves parallel to the axes of them.
Y-axis
X-axis
Z-axis
Z-axis
X-axis
Y-axis
Joint Coordinates Cartesian Coordinates Cylindrical Coordinates
Tool Coordinates User Coordinates
U-axis
R-axis
B-axis
T-axis
E-axis
L-axis
S-axis
r-axis
r-axis
Z-axis
X-axis
Y-axis
Z-axis
-axis
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