YASKAWA NX100 Operator's Manual page 63

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• In cartesian or cylindrical coordinates, wrist axis rotations are based on the X-, Y-, or Z-
axis.
• In tool coordinates, wrist axis rotations are based on X-, Y-, or Z-axis of the tool coordi-
nates.
• In user coordinates, wrist axis rotations are based on X-, Y-, or Z-axis of the user coordi-
nates.
2 Manipulator Coordinate Systems and Operations
−
Z - a x i s
Y- a x i s
X - a x i s
X - a x i s
−
−
+
Y - a x i s
Z - a x i s
−
Z - a x i s
2-14
2.3 Coordinate Systems and Axis Operation
Z - a x i s
+
Y- a x i s
−
+
−
X - a x i s
+
+
−
Z - a x i s
+
+
Y- a x i s
−
−
+
X - a x i s
+
Y- a x i s
X - a x i s
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