YASKAWA NX100 - Coordinate Systems and Axis Operation

2 Manipulator Coordinate Systems and Operations
2.3 Coordinate Systems and Axis Operation
2-5
149235-1CD
RE-CSO-A031
2.3 Coordinate Systems and Axis Operation
2.3.1 Joint Coordinates
When operating in joint coordinates mode, the S, L, U, R, B, and T-axes of the manipulator move
independently. The motion of each axis is described in the table below.
Axis Motion in Joint Coordinates
Axis Name Axis Operation Key Motion
Major
Axes
S-axis Main unit rotates right and left.
L-axis Lower arm moves forward and backward.
U-axis Upper arm moves up and down.
Wrist
Axes
R-axis Wrist rolls right and left.
B-axis Wrist moves up and down.
T-axis Wrist turns right and left.
• When two or more axis keys are pressed at the same time, the manipulator will perform a
compound movement. However, if two different directional keys for the same axis are
pressed at the same time (such as [S-] + [S+]), none of the axes operate.
• When using a manipulator of 7 axes or 8 axes, the C-axis (7th axis) is moved by pressing
[SHIFT] + [S-] or [SHIFT] + [S+]; the W-axis (8th axis) by pressing [SHIFT] + [L-] or
[SHIFT] + [L+].
X-
S-
X+
S+
Y-
L-
Y+
L+
Z-
U-
Z+
U+
X-
R-
X+
R+
Y-
B-
Y+
B+
Z-
T-
Z+
T+
SUPPLE
-MENT
U-axis
R-axis
B-axis
T-axis
L-axis
S-axis
Y-
L-
Y+
L+
X-
S-
X+
S+
Z-
U-
Z+
U+
Y-
B-
Y+
B+
X-
R-
X+
R+
Z-
T-
Z+
T+
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