YASKAWA DX100 Operator's Manual

2-5
155507-1CD
RE-CSO-A037
DX100
2 Manipulator Coordinate Systems and Operations
2.3 Coordinate Systems and Axis Operation
2.3 Coordinate Systems and Axis Operation
2.3.1 Joint Coordinates
When operating in joint coordinates mode, the S, L, U, R, B, and T-axes of
the manipulator move independently. The motion of each axis is
described in the table below.
Table 2-1: Axis Motion in Joint Coordinates
Axis Name Axis Operation Key Motion
Major
Axes
S-axis Main unit rotates right and left.
L-axis Lower arm moves forward and
backward.
U-axis Upper are moves up and down.
Wrist
Axes
R-axis Wrist rolls right and left.
B-axis Wrist moves up and down.
T-axis Wrist turns right and left.
E-axis Lower arm turns right and left.
SUPPLE-
MENT
• When two or more axis keys are pressed at the same time,
the manipulator will perform a compound movement.
However, if two different directional keys (such as [S -] + [S
+]) for the same axis are pressed at the same time, the
axis will not operate. 
(When [S -] + [S +] + [L +] are pressed, only the axis
corresponding to [L +] will operate.)
S-
X-
S+
X+
L-
Y-
L+
Y+
U-
Z-
U+
Z+
R-
X-
R+
X+
B-
Y-
B+
Y+
T-
Z-
T+
Z+
E- E+
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YASKAWA DX100 Specifications

General

Programming Language	Inform III
Compatible Robots	Motoman robots
Operating Temperature	0-45°C
Humidity	20-80% RH (non-condensing)
Protection Class	IP20
Interface	Ethernet
Safety Standards	ANSI/RIA R15.06-1999
Pendant	Available
I/O Capacity	1024 inputs / 1024 outputs
Storage Temperature	-10-60°C