YASKAWA DX100 Operator's Manual page 64

DX100
Fig. 2-7: Torch Welding
2 Manipulator Coordinate Systems and Operations
2.3 Coordinate Systems and Axis Operation
Re is an element to indicate the posture of the manipulator
with seven axes and does not change by the specified coor-
dinates.
The definition of Re is shown below.
SUPPLE-
MENT
TCP
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2-16
Fig. 2-8: Gun Spot Welding
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