YASKAWA NX100 Instructions Manual page 216

11.2 Addition of Base and Station Axes
RECT-X
Z
CARTESIAN
X-AXIS
Base axis direction of travel coincides
with robot coordinate X-Axis.
RECT-XY
Z
CARTESIAN
Y-AXIS
Base 1st and 2nd axes directions of
travel coincide with robot coordinate
X-Axis and Y-Axis, respecitively.
Direction of Base Axis
RECT-Y
Y
X
Base axis direction of travel coincides
with robot coordinate Y-Axis.
RECT-YZ
Y
X
CARTESIAN
X-AXIS
Base 1st and 2nd axes directions of
travel coincide with robot coordinate
Y-Axis and Z-Axis, respectively.
RECT-XYZ
CARTESIAN
Y-AXIS
Base 1st, 2nd, and 3rd axes directions
of travel coincide with robot coordinate
X-Axis, Y-Axis, and Z-Axis, respectively.
Z
Y
X
CARTESIAN
Y-AXIS
Base axis direction of travel coincides
with robot coordinate Z-Axis.
Z
Y
X
CARTESIAN
Y-AXIS
CARTESIAN
Z-AXIS
CARTESIAN
Z-AXIS
Z
X
Y
CARTESIAN
X-AXIS
11-8
RECT-Z
Z
Y
X
CARTESIAN
Z-AXIS
RECT-XZ
Z
Y
X
CARTESIAN
X-AXIS
CARTESIAN
Z-AXIS
Base 1st and 2nd axes directions of
travel coincide with robot coordinate
X-Axis and Z-Axis,respectively.