YASKAWA NX100 User Manual

2 Manipulator Coordinate Systems and Operations
2.3 Coordinate Systems and Axis Operation
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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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YASKAWA NX100 Specifications

General

Manufacturer	YASKAWA
Model	NX100
Operating Temperature	0 to 45°C
Humidity	20 to 80% RH (non-condensing)
Communication Interfaces	Ethernet
Safety Standards	ISO 10218-1
Power Supply	200-230V AC, 50/60Hz
Storage Temperature	60°C