YASKAWA NX100 - Cylindrical Coordinates

2 Manipulator Coordinate Systems and Operations
2.3 Coordinate Systems and Axis Operation
2-7
149235-1CD
RE-CSO-A031
2.3.3 Cylindrical Coordinates
In the cylindrical coordinates, the manipulator moves as follows. The motion of each axis is described in
the following table.
Axis Motion in Cylindrical Coordinates
Axis Name Axis Operation Key Motion
Basic
Axes
θ-axis Main unit rolls around S-axis.
r-axis Moves perpendicular to Z-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 [Z-] + [Z+]), none of the axes operate.
Rolls around θ-axis
Moves perpendicular to r-axis
X-
S-
X+
S+
Y-
L-
Y+
L+
Z-
U-
Z+
U+
SUPPLE
-MENT
Z-axis
θ -axis
r-axis
r-axis
X-
S-
X+
S+
r-axis
r-axis
Y-
L-
Y-
L-
Y+
L+
Y+
L+
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