YASKAWA DX100 Operator's Manual page 81

155507-1CD
DX100
2 Manipulator Coordinate Systems and Operations
2.3 Coordinate Systems and Axis Operation
Turning of each wrist axis differs in each coordinate system.
• In cartesian or cylindrical coordinates, wrist axis rotations are based
on the X-, Y-, or Z-axis.
Z-axis
• In tool coordinates, wrist axis rotations are based on X-, Y-, or Z-axis
of the tool coordinates.
2-17
Z-axis
+
Y-axis
+
X-axis
+
Y-axis
X-axis
X-axis
+
Z-axis
+
+
Y-axis
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