Coordinate Systems And Axis Operation - YASKAWA NX100 Operator's Manual

2 Manipulator Coordinate Systems and Operations

2.3 Coordinate Systems and Axis Operation

2.3
Coordinate Systems and Axis Operation
2.3.1
Joint Coordinates
When operating in joint coordinates mode, the S, L, U, R, B, and T-axes of the manipulator move
independently. The motion of each axis is described in the table below.
Axis Name
Major S-axis
Axes
L-axis
U-axis
Wrist R-axis
Axes
B-axis
T-axis
• When two or more axis keys are pressed at the same time, the manipulator will perform a
compound movement. However, if two different directional keys for the same axis are
SUPPLE
-MENT
pressed at the same time (such as [S-] + [S+]), none of the axes operate.
• When using a manipulator of 7 axes or 8 axes, the C-axis (7th axis) is moved by pressing
[SHIFT] + [S-] or [SHIFT] + [S+]; the W-axis (8th axis) by pressing [SHIFT] + [L-] or
[SHIFT] + [L+].
Axis Motion in Joint Coordinates
Axis Operation Key
U-axis
L-axis
S-axis
2-5
Motion
Main unit rotates right and left.
Lower arm moves forward and backward.
Upper arm moves up and down.
Wrist rolls right and left.
Wrist moves up and down.
Wrist turns right and left.
R-axis
B-axis
T-axis
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