YASKAWA DX100 Operator's Manual

2-7
155507-1CD
RE-CSO-A037
DX100
2 Manipulator Coordinate Systems and Operations
2.3 Coordinate Systems and Axis Operation
2.3.3 Cylindrical Coordinates
In the cylindrical coordinates, the manipulator moves as follows. The
motion of each axis is described in the table below.
X-axis
Y-axis
Z-axis
Fig. 2-1: Moves parallel to X- or Y-axis Fig. 2-2: Moves parallel to Z-axis
Y-axis
X-axis
S-
X-
S+
X+
L-
Y-
L+
Y+
Z-axis
U-
Z-
U+
Z+
Table 2-3: Axis Motion in Cylindrical Coordinates
Axis Name Axis Operation Key Motion
Basic
Axes
-axis Main unit rolls around S-axis.
r-axis Moves perpendicular to Z-
axis.
Z-axis Moves parallel to Z-axis.
Wrist Axes Motion about TCP is executed. See section 2.3.7
“Control Point Operation” on page 2-15.
S-
X-
S+
X+
L-
Y-
L+
Y+
U-
Z-
U+
Z+
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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