YASKAWA DX100 - 6.1 Home Position Calibration; 6.1.1 Home Position Calibration

2 Manipulator Coordinate Systems and Operations
2.3 Coordinate Systems and Axis Operation
2-8
155507-1CD
RE-CSO-A037
DX100
SUPPLE-
MENT
• When two or more axis keys are pressed at the same time,
the manipulator will perform compound movement.
However, if two different directional keys (such as [Z -] + [Z
+]) for the same axis are pressed at the same time, the
axis will not operate. 
(When [Z -] + [Z +] + [Y +] are pressed, only the axis
corresponding to [Y +] will operate.)
r-axis
r-axis
Z-axis
-axis
Fig. 2-3: Rolls around q-axis Fig. 2-4: Moves perpendicular to r-axis
S-
X-
S+
X+
r-axis
r-axis
L-
Y-
L+
Y+
L+
Y+
L-
Y-
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