YASKAWA MOTOMAN DX100 - Position Data of each Coordinate System; Base Coordinate System; Robot Coordinate System

4 Interface with an Easy Offline Teaching System
DX100 4.3 Configuration of Position Data
4-22
156191-1CD
HW0482494
4.3.2 Position Data of Each Coordinate System
The position data of a robot axis, base axis, and station axis in each
coordinate system is as follows.
4.3.2.1 Base Coordinate System
4.3.2.2 Robot Coordinate System
Zb
Xb
0b
Yb
Robot Axis Coordinate Values
(Xb,Yb,Zb,RXb,RYb,RZb)
Base Axis Coordinate Values
Base Coordinate System
Station Axis Pulse Values(W1,W2)
Zb
Xb
0b
Yb
Robot Axis Coordinate Values
(Xr,Yr,Zr,RXr,RYr,RZr)
Base Axis Coordinate Values
(X0,Y0,Z0)
Base Coordinate System
Station Axis Pulse Values(W1,W2)
Yr
Xr
Zr
Robot Coordinate System
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