YASKAWA Motoman UP6 Instructions Manual page 262

4.2 Addition of Base and Station Axis
*2
Machine type selection display is shown.
*3
After the type selection, the display returns to control group display.
*4
The display moves to the connection display.
RECT-X
CARTESIAN
X-AXIS
Base axis advancing direction coincides
with robot coordinate X-Axis.
RECT-XY
CARTESIAN
Y-AXIS
Base 1st and 2nd axes advancing directions
coincide with robot coordinate X-Axis and Y-Axis,
respecitively.
MACHINE LIST
NONE
RECT-Y
RECT-XY
RECT-YZ
!Maintenance Mode
Direction of Base Axis
RECT-Y
Base axis advancing direction coincides
with robot coordinate Y-Axis.
RECT-YZ
CARTESIAN
X-AXIS
Base 1st and 2nd axes advancing directions
coincide with robot coordinate Y-Axis and
Z-Axis, respectively.
RECT-X :TRAVEL X-AXIS BASE
RECT-Y :TRAVEL Y-AXIS BASE
RECT-X
RECT-Z :TRAVEL Z-AXIS BASE
RECT-Z
RECT-XY :TRAVEL XY-AXIS BASE
RECT-XZ
RECT-XZ :TRAVEL XZ-AXIS BASE
RECT-XYZ
RECT-YZ :TRAVEL YZ-AXIS BASE
RECT-XYZ:TRAVEL XYZ-AXIS BASE
(See following pages)
RECT-Z
CARTESIAN
Y-AXIS
RECT-XZ
CARTESIAN
Y-AXIS
CARTESIAN
Z-AXIS
4-6
CARTESIAN
Z-AXIS
Base axis advancing direction
coincides with robot coordinate
Z-Axis.
CARTESIAN CARTESIAN
Z-AXIS X-AXIS
Base 1st and 2nd axes advancing directions
coincide with robot coordinate X-Axis and
Z-Axis,respectively.