YASKAWA MOTOMAN DX100 - Relative Job; Coordinate Systems; Relative Job Shift Functions

1 Relative Job
DX100 1.1 Coordinate Systems
1-1
156191-1CD
HW0482494
1 Relative Job
In a standard job, each position is defined by a set of pulse numbers,
which represent the amount of revolutions of the S, L, U, R, B, and T axes.
In a relative job, however, each position is represented with a set of three
values (X, Y, Z) in a specified coordinate system.
1.1 Coordinate Systems
In a relative job, any of the following three types of coordinate systems
can be used:
• Base coordinate system
• Robot coordinate system
• User coordinate system (63 systems available)
1.2 Relative Job Shift Functions
In a relative job that uses a user coordinate system, changing the
definition points to re-determine the coordinate system also changes the
coordinates used for the robot operations accordingly.
Also when the operating coordinate system number is changed, the
coordinates used for operations are also changed accordingly.
Pulse Type Position Data of Standard
Job
XYZ-type Position Data of Relative
Job
B= 
R= 
U= 
T= 
L= 
S= 
Z-coordinate
X-coordinate
Y-coordinate
X=
Y=
Z=
9/63