Tool Coordinates - YASKAWA NX100 Operator's Manual
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2.3.4
Tool Coordinates
In the tool coordinates, the manipulator moves parallel to the X-, Y-, and Z-axes, which are defined at
the tip of the tool. The motion of each axis is shown in the following table:
Axis Name
Basic
X- axis
Axes
Y- axis
Z- axis
Wrist Axes
When two or more axis keys are pressed at the same time, the manipulator will perform
SUPPLE
compound movement. However, if two different directional keys for the same axis are
-MENT
pressed at the same time (such as [X-] + [X+]), none of the axes operate.
Y - a x i s
Z - a x i s
The tool coordinates are defined at the tip of the tool, assuming that the effective direction of the tool
mounted on the manipulator wrist flange is the Z-axis. Therefore, the tool coordinates axis direction
moves with the wrist.
In tool coordinates motion, the manipulator can be moved using the effective tool direction as a
reference regardless of the manipulator position or orientation. These motions are best suited when
the manipulator is required to move parallel while maintaining the tool orientation with the workpieces.
2 Manipulator Coordinate Systems and Operations
Axis Motion in Tool Coordinates
Axis Operation Key
Motion about TCP is executed. See section 2.3.7 "Control Point
Operation" and section 2.3.8 "Control Point Change".
X - a x i s
2-8
2.3 Coordinate Systems and Axis Operation
Motion
Moves parallel to X-axis.
Moves parallel to Y-axis.
Moves parallel to Z-axis.
X - a x i s
Z - a x i s
Y - a x i s
Y - a x i s
Z - a x i s
X - a x i s
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