YASKAWA DX100 - 6.3 Checking of the Check Program

2-17
155507-1CD
RE-CSO-A037
DX100
2 Manipulator Coordinate Systems and Operations
2.3 Coordinate Systems and Axis Operation
Turning of each wrist axis differs in each coordinate system.
• In cartesian or cylindrical coordinates, wrist axis rotations are based
on the X-, Y-, or Z-axis.
• In tool coordinates, wrist axis rotations are based on X-, Y-, or Z-axis
of the tool coordinates.
X-axis
Y-axis
Z-axis
Z-axis
X-axis
+
+
+
Y-axis
Z-axis
Y-axis
X-axis
+
+
+
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