Manipulator Types - YASKAWA DX100 Operator's Manual

For material handling, press tending, cutting, and other applications

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3.9.4.10 Manipulator Types

3.9 Other Job-editing Functions

When the position data of the job data are described using the XYZ

format, several postures may be taken according to the manipulator's

structure when moving it to the described position.

Although these postures have the same coordinates for TCP, they vary in

pulse for each axis.

Thus, the manipulator's posture cannot be uniquely defined only by the

coordinate value, and it is necessary to specify the data other than the

coordinate value to define the manipulator's posture.

This is called "Type".

Type varies according to the manipulator model.

For the manipulator with seven axes, X, Y, Z, Rx, Ry, Rz, Re

and Type are used.

Re is an element to indicate the posture of the manipulator

with seven axes and does not change by the specified

coordinates.

The definition of Re is shown below.

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