YASKAWA MOTOMAN DX100 - User Coordinate System

4 Interface with an Easy Offline Teaching System
DX100 4.3 Configuration of Position Data
4-23
156191-1CD
HW0482494
4.3.2.3 User Coordinate System
Zb
Xb
0b
Yb
Robot Axis Coordinate Values
(Xu,Yu,Zu,RXu,RYu,RZu)
Base Axis Coordinate Values(X0,Y0,Z0)
Base Coordinate System
Station Axis Pulse Values(W1,W2)
Yu
Xu
Zu
User Coordinate System
NOTE
The user coordinate system of 7-axis manipulator takes
X, Y, Z, Rx, Ry, Rz ,Re+ type.
Re is an element which shows the posture of 7-axis
manipulator and it would not change by the specified
coordinate system.
The definition of Re is as follows.
Re < 0 °
Re ≥ 0 °
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