Cartesian Coordinates - YASKAWA DX100 Operator's Manual

DX100

2.3.2 Cartesian Coordinates

2 Manipulator Coordinate Systems and Operations
2.3 Coordinate Systems and Axis Operation
E-axis E-
Y-
L-axis
L-
X-
S-axis
S-
In the cartesian coordinates, the manipulator moves parallel to the X-, Y-,
or Z-axes. The motion of each axis is described in the table below.
Table 2-2: Axis Motion in Cartesian Coordinates
Axis Name Axis Operation Key
Basic X-axis
X-
Axes
Y-axis
Y-
Z-axis
Wrist Axes Motion about TCP is executed. See section 2.3.7 "Control
Point Operation" on page 2-15.
• When two or more axis keys are pressed at the same time,
the manipulator will perform compound movement.
However, if two different directional keys (such as [X -] + [X
+]) for the same axis are pressed at the same time, the
SUPPLE-
MENT
axis will not operate. 
(When [X -] + [X +] + [Y +] are pressed, only the axis
corresponding to [Y +] will operate.)
2-6
Z+
U-axis
U+
R-axis
X+
R+
X-
Z-
R-
U-
Y-
B-
E+
Y+
L+
X+
S+
Motion
Moves parallel to X-axis.
X+
S- S+
Moves parallel to Y-axis.
Y+
L- L+
Moves parallel to Z-axis.
Z- Z+
U- U+
155507-1CD
B-axis
Y+
B+
T-axis
Z+
T+
Z-
T-
RE-CSO-A037
70 of 554