YASKAWA JZRCR-APP30-1 - Page 81

2 Manipulator Coordinate Systems and Operations
2.4 Coordinate Frames and Manipulator Jogging
2-22
HW1485509
HW1485509
– In Tool Frame, wrist axis rotations are based on the X, Y, and Z axes
of the tool coordinates.
– In User Frame, wrist axis rotations are based on the X, Y, and Z
axes of the user coordinates.
Z-axis
Y-axis
X-axis
+
-
-
-
+
+
Z-axis
X-axis
Y-axis
Z-axis
X-axis
Y-axis
+
-
+
-
+
-
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