YASKAWA DX100 Operator's Manual

2 Manipulator Coordinate Systems and Operations
2.3 Coordinate Systems and Axis Operation
2-12
155507-1CD
RE-CSO-A037
DX100
2.3.5 User Coordinates
In the user coordinates, the manipulator moves parallel to each axis of the
coordinates which are set by the user. Up to 24 coordinate types can be
registered. Each coordinate has a user number and is called a user
coordinate file. 
The figure and the table below describe the motion of each axis when the
axis key is pressed.
Table 2-5: Axis Motion in User 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+
Fig. 2-5: Moves parallel to X or Y-axis
Fig. 2-6: Moves parallel to Z-axis
Y-axis
X-axis
S-
X-
S+
X+
L-
Y-
L+
Y+
Station, etc.
Z-axis
Y-axis
Z-axis
X-axis
X-axis
Y-axis
Z-axis
Y-axis
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