YASKAWA NX100 - Cartesian Coordinates

2 Manipulator Coordinate Systems and Operations
2.3 Coordinate Systems and Axis Operation
2-6
149235-1CD
RE-CSO-A031
2.3.2 Cartesian Coordinates
In the cartesian coordinates, the manipulator moves parallel to the X-, Y-, or Z-axes. The motion of
each axis is described in the following table:
Axis Motion in Cartesian Coordinates
Axis Name Axis Operation Key Motion
Basic
Axes
X-axis Moves parallel to X-axis.
Y-axis Moves parallel to Y-axis.
Z-axis Moves parallel to Z-axis.
Wrist Axes Motion about TCP is executed. See section 2.3.7 "Control Point Operation"
and section 2.3.8 "Control Point Change".
When two or more axis keys are pressed at the same time, the manipulator will perform
compound movement. However, if two different directional keys for the same axis are
pressed at the same time (such as [X-] + [X+]), none of the axes operate.
Moves parallel to X- or Y-axis Moves parallel to Z-axis
X-
S-
X+
S+
Y-
L-
Y+
L+
Z-
U-
Z+
U+
SUPPLE
-MENT
Z-axis
Y-axis
X-axis
Y-axis
X-axis
Y-
L-
Y+
L+
X-
S-
X+
S+
Z-axis
Z-
U-
Z+
U+
55 of 493