YASKAWA MOTOMAN-SDA Instructions Manual

Also see for MOTOMAN FS100: Instructions Instructions Maintenance manual Instructions Instructions

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YASKAWA MOTOMAN-SDA Instructions Manual Manual pdf 10 page image

2 Axis OperationFS100 2.2 Axis Operation in Cartesian Coordinate System2-7HW1481025HW14810252.2 Axis Operation in Cartesian Coordinate SystemAt the dual-arm system in the FS100 system, the rotation axis isregistered as the base axis. Therefore, the base coordinate (the worldcoordinate) is fixed to the ground even if the rotation axis is operated.On the other hand, the manipulator moves on the basis of the basecoordinate when it is operated in the cartesian coordinate system.In this consequence, when the manipulator is operated in the cartesiancoordinate system while the rotation axis is moved from the home positionas shown in fig. 2-4 “Base Coordinate-Based Axis Operation Direction” ,the manipulator will move in accordance with the ground fixed basecoordinate system.In this case, it might be difficult for the operator to confirm themanipulator’s moving direction.To clear this problem, setting of the robot coordinate to the referencecoordinate when the manipulator is operated in the cartesian coordinate ismade possible.As described above, when the robot coordinate is set to the referencecoordinate and the manipulator is operated in the cartesian coordinatesystem, as shown in fig. 2-5 “Robot Coordinate-Based Axis OperationDirection” , regardless of the rotation axis position, the manipulator’s frontfacing direction is recognized as X-axis direction.Fig. 2-4: Base Coordinate-Based Axis Operation DirectionFig. 2-5: Robot Coordinate-Based Axis Operation Direction10/15