YASKAWA DX100 Operator's Manual page 72

DX100
Fig. 2-3: Rolls around q-axis
2 Manipulator Coordinate Systems and Operations
2.3 Coordinate Systems and Axis Operation
• 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 [Z -] + [Z
+]) for the same axis are pressed at the same time, the
SUPPLE-
MENT
axis will not operate. 
(When [Z -] + [Z +] + [Y +] are pressed, only the axis
corresponding to [Y +] will operate.)
Z - a x i s
X+
S+
X-
S-
2-8
r - a x i s
- a x i s
r - a x i s
Fig. 2-4: Moves perpendicular to r-axis
Y+
L+
Y-
L-
Y-
L-
RE-CSO-A037
155507-1CD
r-axis
r-axis
Y+
L+
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