User Coordinates - YASKAWA NX100 Operator's Manual

149235-1CD
2.3.5

User Coordinates

In the user coordinates, the manipulator moves parallel to each axis of the coordinates which are set by
the user. Up to 24 coordinate types can be registered. Each coordinate has a user number and is
called a user coordinate file. The motion of each axis is described in the following table:
The figure and the table below describe the motion of each axis when the axis key is pressed.
Axis Name
Basic X- axis
Axes
Y- axis
Z- axis
Wrist Axes
When two or more axis keys are pressed at the same time, the manipulator will perform
SUPPLE compound movement. However, if two different directional keys for the same axis are
-MENT
pressed at the same time (such as [X-] + [X+]), none of the axes operate.
Y-axis
Moves parallel to X or Y-axis
Z-axis
Moves parallel to Z-axis
2 Manipulator Coordinate Systems and Operations
Axis Motion in User Coordinates
Axis Key
Moves parallel to X-axis.
Moves parallel to Y-axis.
Moves parallel to Z-axis.
Motion about TCP is executed. See section 2.3.7 "Control Point
Operation" and section 2.3.8 "Control Point Change".
X-axis
Z-axis
X-axis
Y-axis
2-10
2.3 Coordinate Systems and Axis Operation
Motion
Z-axis
Y-axis
Station
Y-axis
X-axis
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