Cylindrical Coordinates - YASKAWA DX100 Operator's Manual

DX100
Fig. 2-1: Moves parallel to X- or Y-axis
X-

2.3.3 Cylindrical Coordinates

2 Manipulator Coordinate Systems and Operations
2.3 Coordinate Systems and Axis Operation
Y-axis
X+
S- S+
Y+
L+
Y-
L-
In the cylindrical coordinates, the manipulator moves as follows. The
motion of each axis is described in the table below.
Table 2-3: Axis Motion in Cylindrical Coordinates
Axis Name Axis Operation Key
θ-axis
Basic
Axes
r-axis
Z-axis
Wrist Axes
Motion about TCP is executed. See chapter 2.3.7
"Control Point Operation" at page 2-15.
工控帮助教小舒QQ:2823408167
2-7
Z-axis
Y-axis
X-axis
Fig. 2-2: Moves parallel to Z-axis
X-axis
Motion
Main unit rolls around S-axis.
X- X+
S- S+
Moves perpendicular to Z-
Y- Y+ axis.
L- L+
Moves parallel to Z-axis.
Z- Z+
U- U+
该文档是极速PDF编辑器生成，
如果想去掉该提示,请访问并下载：
http://www.jisupdfeditor.com/
Z-axis
Z+
U+
Z-
U-