Position Data Of Each Coordinate System; Base Coordinate System; Robot Coordinate System - YASKAWA MOTOMAN-DX100 Instructions Manual

DX100

4.3.2 Position Data of Each Coordinate System

4.3.2.1 Base Coordinate System

Xb

4.3.2.2 Robot Coordinate System

Xb
4 Interface with an Easy Offline Teaching System
4.3 Configuration of Position Data
The position data of a robot axis, base axis, and station axis in each
coordinate system is as follows.
Zb
Base Coordinate System
Robot Axis Coordinate Values
(Xb,Yb,Zb,RXb,RYb,RZb)
0b
Base Axis Coordinate Values
Zb
Base Coordinate System
Robot Coordinate System
0b
Base Axis Coordinate Values
(X0,Y0,Z0)
Xr
4-22
Station Axis Pulse Values(W1,W2)
Zr
Robot Axis Coordinate Values
(Xr,Yr,Zr,RXr,RYr,RZr)
Station Axis Pulse Values(W1,W2)
Yr
HW0482494
156191-1CD
Yb
Yb
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