4
Interface with an Easy Offline Teaching System
DX100
4.3
Configuration of Position Data
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156191-1CD
HW0482494
4.3
Configuration of Position Data
The configuration of the position data for each axis in each coordinate
system is as follows.
4.3.1 Position Data of Each Axis
4.3.1.1 Robot Axis
R1 = X, Y, Z, Rx, Ry, Rz + type
X-, Y- and Z-axes represent the coordinate position of the control point
based on a specified coordinate system.
Rx-, Ry- and Rz-axes represent the coordinate posutre of the control point
based on a specified coordinate system with roll, pitch or yaw.
By rotating the specified coordinate system in the order of Rz, Ry and Rx,
it takes the coordinate system posture of the control point.
4.3.1.2 Station Axis
S1 = W1, W2
The position of a station axis is represented by a pulse number.
4.3.1.3 Base Axis
B1 = X0, Y0, Z0
The position of a base axis is represented as the distance of the axis from
the origin of the coordinate system of teaching. (For the used axes only.)
• For the base coordinate system, the distance from the origin of the
base coordinate system.
• For the robot coordinate system, the distance from the origin of the
base coordinate system.
• For the user coordinate system, the distance from the origin of the
user coordinate system.
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