Control Point Operation - YASKAWA DX100 Operator's Manual

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
Wrist Axes
E-axis
E-
• When two or more axis keys are pressed at the same time,
the manipulator will perform compound movement. How-
ever, if two different directional keys for the same axis are
SUPPLE-
MENT
pressed at the same time (such as [X-] + [X+]), none of the
axes operate.
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2-15
Motion
TCP moves. These movements
differ depending on cartesian,
X- X+
cylindrical, tool and user
S- S+
coordinates.
Y- Y+
L- L+
Z- Z+
U- U+
Wrist axes move with the TCP
fixed. These movements differ
X- X+
depending on cartesian,
R- R+
cylindrical, tool and user
coordinates.
Y- Y+
B- B+
Z- Z+
T- 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.)
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