YASKAWA DX100 Operator's Manual

2-9
155507-1CD
RE-CSO-A037
DX100
2 Manipulator Coordinate Systems and Operations
2.3 Coordinate Systems and Axis Operation
2.3.4 Tool Coordinates
In the tool coordinates, the manipulator moves parallel to the X-, Y-, and Z-
axes, which are defined at the tip of the tool. The motion of each axis is
described in the table below.
The tool coordinates are defined at the tip of the tool, assuming that the
effective direction of the tool mounted on the manipulator wrist flange is
the Z-axis. Therefore, the tool coordinates axis direction moves with the
wrist.
In the tool coordinates motion, the manipulator can be moved using the
effective tool direction as a reference regardless of the manipulator
position or orientation. These motions are best suited when the
manipulator is required to move parallel while maintaining the tool
orientation with the workpieces.
Table 2-4: Axis Motion in Tool Coordinates
Axis Name Axis Operation Key Motion
Basic
Axes
X-axis Moves parallel to X-axis.
Y-axis Moves parallel to Y-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.
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 [X -] + [X
+]) for the same axis are pressed at the same time, the
axis will not operate. 
(When [X -] + [X +] + [Y +] are pressed, only the axis
corresponding to [Y +] will operate.)
S-
X-
S+
X+
L-
Y-
L+
Y+
U-
Z-
U+
Z+
Y-axis
Z-axis
Y-axis
X-axis
Z-axis
Y-axis
X-axis
Z-axis
X-axis
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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