Coordinate Systems And Axis Operation; Joint Coordinates - YASKAWA DX100 Operator's Manual

155507-1CD
DX100
2.3

2.3.1 Joint Coordinates

2 Manipulator Coordinate Systems and Operations

2.3 Coordinate Systems and Axis Operation

Coordinate Systems and Axis Operation
When operating in joint coordinates mode, the S, L, U, R, B, and T-axes of
the manipulator move independently. The motion of each axis is
described in the table below.
Table 2-1: Axis Motion in Joint Coordinates
Axis Name Axis Operation Key
Major S-axis
X-
Axes
L-axis
Y-
U-axis
Wrist R-axis
Axes
B-axis
T-axis
E-axis
E-
• When two or more axis keys are pressed at the same time,
the manipulator will perform a compound movement.
However, if two different directional keys (such as [S -] + [S
+]) for the same axis are pressed at the same time, the
SUPPLE-
MENT
axis will not operate. 
(When [S -] + [S +] + [L +] are pressed, only the axis
corresponding to [L +] will operate.)
2-5
Motion
Main unit rotates right and left.
X+
S- S+
Lower arm moves forward and
Y+
backward.
L- L+
Upper are moves up and down.
Z- Z+
U- U+
Wrist rolls right and left.
X- X+
R- R+
Wrist moves up and down.
Y- Y+
B- B+
Wrist turns right and left.
Z- Z+
T- T+
Lower arm turns right and left.
E+
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