Types Of Coordinate Systems - YASKAWA NX100 Operator's Manual

149235-1CD
2.1.2

Types of Coordinate Systems

The following coordinate systems can be used to operate the manipulator:
• Joint Coordinates
Each axis of the manipulator moves independently.
• Cartesian Coordinates
The tool tip of the manipulator moves parallel to any of the X-, Y-, and Z-axes.
• Cylindrical Coordinates
The θ axis moves around the S-axis. The R-axis moves parallel to the L-axis arm. For
vertical motion, the tool tip of the manipulator moves parallel to the Z-axis.
• Tool Coordinates
The effective direction of the tool mounted in the wrist flange of the manipulator is defined
as the Z-axis. This axis controls the coordinates of the end point of the tool.
• User Coordinates
The XYZ-cartesian coordinates are defined at any point and angle.
The tool tip of the manipulator moves parallel to the axes of them.
Z - a x i s
Cartesian Coordinates
Y - a x i s
Z - a x i s
Tool Coordinates
2 Manipulator Coordinate Systems and Operations
Y - a x i s
X - a x i s
X - a x i s
2-2
2.1 Control Groups and Coordinate Systems
Z - a x i s
θ - a x i s
Cylindrical Coordinates
Z - a x i s
Y - a x i s
User Coordinates
r - a x i s
r - a x i s
X - a x i s
51 of 493
RE-CSO-A031