Movement Of The Axes - YASKAWA NX100 Instructions Manual

6.1 Movement of the Axes

6.1
Movement of the Axes
Move each axis of the manipulator by pressing the axis keys on the programming pendant.
This figure illustrates each axis of motion in the joint coordinates.
NOTE
Be sure to remove all items from the area before moving the manipulator.
Refer to the INSTRUCTION MANUAL for the appropriate position of the fixture.
X- X+
S- S+
Y- Y+
.
L- L+
Z- Z+
U- U+
Axis Keys
S
Rotates main body
-
X
S-
L
Moves lower arm forward/
-
Y
L-
U
Moves upper arm up/
X- X+
R- R+
Y+
Y- .
B- B+
L-Axis
Z+
Z-
T- T+
S-Axis
X+
S+
backward
Y+
L+
down
Z+
U+
-
Z
U-
6-3
U-Axis
R-Axis
R
Rotates upper arm
-
X
R-
B
Moves wrist up/down
Y+
-
Y
B-
T
Rotates wrist
-
Z
T-
B-Axis
T-Axis
X+
R+
B+
Z+
T+