YASKAWA YRC1000 - 2 Manipulator Coordinate Systems and Operations; 2.1 Control Groups and Coordinate System; 2.1.1 Control Group

2 Manipulator Coordinate Systems and Operations
2.1 Control Groups and Coordinate System
2-1
HW1485509
HW1485509
2 Manipulator Coordinate Systems and Operations
2.1 Control Groups and Coordinate System
2.1.1 Control Group
For the YRC Controller, a group of axes to be controlled is called a
“Control Group”. The Control Group is split into two units:
– “ROBOT” moves the joints of the manipulator itself
– “BASE” moves the entire manipulator
The “BASE” is called an “external axis”, and is not supported by the Smart
Pendant.
Fig. 2-1: Control Group
Robot
This is the control group
for the manipulator itself.
Base
This is an axis that moves the entire manipulator.
(e.g. servo track) This axis can be linear or rotational.
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