YASKAWA NX100 User Manual

2 Manipulator Coordinate Systems and Operations
2.3 Coordinate Systems and Axis Operation
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RE-CSO-A031
2.3.4 Tool Coordinates
In the tool coordinates, the manipulator moves parallel to the X-, Y-, and Z-axes, which are defined at
the tip of the tool. The motion of each axis is shown in the following table:
The tool coordinates are defined at the tip of the tool, assuming that the effective direction of the tool
mounted on the manipulator wrist flange is the Z-axis. Therefore, the tool coordinates axis direction
moves with the wrist.
In tool coordinates motion, the manipulator can be moved using the effective tool direction as a
reference regardless of the manipulator position or orientation. These motions are best suited when
the manipulator is required to move parallel while maintaining the tool orientation with the workpieces.
Axis Motion in Tool 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.
X-
S-
X+
S+
Y-
L-
Y+
L+
Z-
U-
Z+
U+
SUPPLE
-MENT
Y-axis
Z-axis
Y-axis
X-axis
Z-axis
Y-axis
X-axis
Z-axis
X-axis
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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