User Coordinate System - YASKAWA MOTOMAN-DX100 Instructions Manual

156191-1CD
DX100

4.3.2.3 User Coordinate System

Xb
4 Interface with an Easy Offline Teaching System
4.3 Configuration of Position Data
Zb
Base Coordinate System
Zu
0b
Xu
The user coordinate system of 7-axis manipulator takes
NOTE X, Y, Z, Rx, Ry, Rz ,Re+ type.
Re is an element which shows the posture of 7-axis
manipulator and it would not change by the specified
coordinate system.
The definition of Re is as follows.
Re ≥0°
4-23
User Coordinate System
Robot Axis Coordinate Values
(Xu,Yu,Zu,RXu,RYu,RZu)
Station Axis Pulse Values(W1,W2)
Base Axis Coordinate Values(X0,Y0,Z0)
HW0482494
Yb
Yu
Re < 0°
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