YASKAWA NX100 - User Coordinates

2 Manipulator Coordinate Systems and Operations
2.3 Coordinate Systems and Axis Operation
2-10
149235-1CD
RE-CSO-A031
2.3.5 User Coordinates
In the user coordinates, the manipulator moves parallel to each axis of the coordinates which are set by
the user. Up to 24 coordinate types can be registered. Each coordinate has a user number and is
called a user coordinate file. The motion of each axis is described in the following table:
The figure and the table below describe the motion of each axis when the axis key is pressed.
Axis Motion in User Coordinates
Axis Name Axis 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
Y-axis
X-axis
Y-
L-
Y+
L+
X-
S-
X+
S+
Station
Z-axis
X-axis
Y-axis
Z-axis
X-axis
Y-axis
Z-axis
Y-axis
Z-
U-
Z+
U+
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