2 Manipulator Coordinate Systems and Operations2.3 Coordinate Systems and Axis Operation2-10155223-1CDRE-CSO-A0362.3.5 User CoordinatesIn the user coordinates, the manipulator moves parallel to each axis of the coordinates which are set bythe user. Up to 24 coordinate types can be registered. Each coordinate has a user number and iscalled a user coordinate file. The motion of each axis is described in the following table:The figure and the table below describe the motion of each axis when the axis key is pressed.Axis Motion in User CoordinatesAxis Name Axis Key MotionBasicAxesX- axis Moves parallel to X-axis.Y- axis Moves parallel to Y-axis.Z- axis Moves parallel to Z-axis.Wrist Axes Motion about TCP is executed. See section 2.3.7 "Control PointOperation" and section 2.3.8 "Control Point Change".When two or more axis keys are pressed at the same time, the manipulator will performcompound movement. However, if two different directional keys for the same axis arepressed at the same time (such as [X-] + [X+]), none of the axes operate.Moves parallel to X or Y-axisMoves parallel to Z-axisX-S- X+S+Y-L- Y+L+Z-U- Z+U+SUPPLE-MENTY-axisX-axisY-L-Y+L+X-S- X+S+StationZ-axisX-axisY-axisZ-axisX-axis Y-axisZ-axisY-axisZ-U-Z+U+58 of 435
