YASKAWA NX100 User Manual

2 Manipulator Coordinate Systems and Operations
2.3 Coordinate Systems and Axis Operation
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2.3.7 Control Point Operation
Motion about TCP (Tool Center Point) can only change the wrist orientaion at a fixed TCP position in all
coordinate systems except the joint coordinates. The motion of each axis is described in the following
table.
Turning of each wrist axis differs in each coordinate system.
Axis Motion in Motion about TCP
Axis
Name
Axis Key Motion
Basic
Axes
TCP moves. These movements differ
depending on cartesian, cylindrical,
tool and user coordinates.
Wrist
Axes
Wrist axes move with the TCP fixed.
These movements differ depending
on cartesian, cylindrical, tool and user
coordinates.
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.
Torch Welding Gun Spot Welding
X-
S-
X+
S+
Y-
L-
Y+
L+
Z-
U-
Z+
U+
X-
R-
X+
R+
Y-
B-
Y+
B+
Z-
T-
Z+
T+
SUPPLE
-MENT
TCP
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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