Tool Coordinates - YASKAWA DX100 Operator's Manual

155507-1CD
DX100

2.3.4 Tool Coordinates

2 Manipulator Coordinate Systems and Operations
2.3 Coordinate Systems and Axis Operation
In the tool coordinates, the manipulator moves parallel to the X-, Y-, and Z-
axes, which are defined at the tip of the tool. The motion of each axis is
described in the table below.
Table 2-4: Axis Motion in Tool Coordinates
Axis Name Axis Operation Key
Basic X-axis
X-
Axes
S-
Y-axis
Y-
L-
Z-axis
Z-
U-
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.)
X-axis
Y-axis
Z-axis
The tool coordinates are defined at the tip of the tool, assuming that the
effective direction of the tool mounted on the manipulator wrist flange is
the Z-axis. Therefore, the tool coordinates axis direction moves with the
wrist.
In the tool coordinates motion, the manipulator can be moved using the
effective tool direction as a reference regardless of the manipulator
position or orientation. These motions are best suited when the
manipulator is required to move parallel while maintaining the tool
orientation with the workpieces.
2-9
Motion
Moves parallel to X-axis.
X+
S+
Moves parallel to Y-axis.
Y+
L+
Moves parallel to Z-axis.
Z+
U+
X-axis
Z-axis
Y-axis
Y-axis
Z-axis
RE-CSO-A037
X-axis
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