Cylindrical Coordinates - YASKAWA NX100 Operator's Manual

2 Manipulator Coordinate Systems and Operations
2.3 Coordinate Systems and Axis Operation
2.3.3

Cylindrical Coordinates

In the cylindrical coordinates, the manipulator moves as follows. The motion of each axis is described in
the following table.
Axis Name
θ-axis
Basic
Axes
r-axis
Z-axis
Wrist Axes
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
SUPPLE
-MENT
pressed at the same time (such as [Z-] + [Z+]), none of the axes operate.
Rolls around
Axis Motion in Cylindrical Coordinates
Axis Operation Key
Motion about TCP is executed. See section 2.3.7 "Control Point
Operation" and section 2.3.8 "Control Point Change".
Z - a x i s
θ
-axis
Motion
Main unit rolls around S-axis.
Moves perpendicular to Z-axis.
Moves parallel to Z-axis.
r - a x i s
θ - a x i s
r - a x i s
Moves perpendicular to r-axis
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r-axis
r-axis
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