YASKAWA Motoman UP6 - Page 262

4.2 Addition of Base and Station Axis
4-6
*2
Machine type selection display is shown.
*3
After the type selection, the display returns to control group display.
*4
The display moves to the connection display.
Direction of Base Axis
MACHINE LIST
NONE RECT-X
RECT-Y RECT-Z
RECT-XY RECT-XZ
RECT-YZ RECT-XYZ
!Maintenance Mode
RECT-X :TRAVEL X-AXIS BASE
RECT-Y :TRAVEL Y-AXIS BASE
RECT-Z :TRAVEL Z-AXIS BASE
RECT-XY :TRAVEL XY-AXIS BASE
RECT-XZ :TRAVEL XZ-AXIS BASE
RECT-YZ :TRAVEL YZ-AXIS BASE
RECT-XYZ:TRAVEL XYZ-AXIS BASE
(See following pages)
CARTESIAN
X-AXIS
Base axis advancing direction coincides
with robot coordinate X-Axis.
RECT-X
CARTESIAN
Y-AXIS
Base axis advancing direction coincides
with robot coordinate Y-Axis.
RECT-Y
CARTESIAN
Z-AXIS
Base axis advancing direction
coincides with robot coordinate
Z-Axis.
RECT-Z
CARTESIAN
X-AXIS
CARTESIAN
Y-AXIS
Base 1st and 2nd axes advancing directions
coincide with robot coordinate X-Axis and Y-Axis,
respecitively.
RECT-XY
CARTESIAN
Z-AXIS
CARTESIAN
Y-AXIS
Base 1st and 2nd axes advancing directions
coincide with robot coordinate Y-Axis and
Z-Axis, respectively.
RECT-YZ
CARTESIAN
Z-AXIS
CARTESIAN
X-AXIS
Base 1st and 2nd axes advancing directions
coincide with robot coordinate X-Axis and
Z-Axis,respectivel
y
.
RECT-XZ