YASKAWA motoman NX100 - Page 190

6.1 Movement of the Axes
6-3
6.1 Movement of the Axes
Move each axis of the manipulator by pressing the axis keys on the programming pendant.
This figure illustrates each axis of motion in the joint coordinates.
Be sure to remove all items from the area before moving the manipulator.
Refer to the INSTRUCTION MANUAL for the appropriate position of the fixture.
NOTE
U-Axis
R-Axis
B-Axis
T-Axis
L-Axis
S-Axis
Axis Keys
T-
Z-
T+
Z+
B+
Y+
R+
X+
B-
Y-
R-
X-
.
U-
Z-
U+
Z+
L+
Y+
S+
X+
L-
Y-
S-
X-
.
S
L
U
R
B
T
Rotates main body
Moves lower arm forward/
backward
Moves upper arm up/
 down
Rotates upper arm
Moves wrist up/down
Rotates wrist
U
Z
U+
Z+
S+
X+
S
X
L+
Y+
L
Y
R+
X+
R
X
B+
Y+
B
Y
T
Z
T+
Z+