Control Point Operation - YASKAWA DX100 Operator's Manual

155507-1CD
DX100

2.3.7 Control Point Operation

2 Manipulator Coordinate Systems and Operations
2.3 Coordinate Systems and Axis Operation
Motion about TCP (Tool Center Point) can only change the wrist
orientation at a fixed TCP position in all coordinate systems except the
joint coordinates. The motion of each axis is described in the table below.
Table 2-6: Axis Motion in Motion about TCP
Axis Name Axis Operation Key
Major Axes
X-
S-
Y-
L-
Z-
U-
Wrist Axes
X-
R-
Y-
B-
Z-
T-
E-axis
E-
• 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.)
2-15
Motion
TCP moves. These movements
X+
differ depending on cartesian,
S+
cylindrical, tool and user
coordinates.
Y+
L+
Z+
U+
Wrist axes move with the TCP
X+
fixed. These movements differ
R+
depending on cartesian,
cylindrical, tool and user
coordinates.
Y+
B+
Z+
T+
* Available only for the manipulator
with seven axes 
E+
The posture of arm changes while
the position and posture of the tool
remain fixed. (The Re degree
changes.)
RE-CSO-A037
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