7 System Setup
7.2 Tool Data Setting
7-13
168283-1CD
168283-1CD
Hardware Installation &
Software Upgrade
7.2.1.3 Registering Tool Angle
The tool pose data is angle data which shows the relation between the
flange coordinates and the tool coordinates. The angle when the flange
coordinates are rotated to meet to the tool coordinates becomes an input
value. Clockwise toward the arrow is the positive direction.
In the following case, register Rz=180, Ry=90, Rx=0
– Input rotation angle around Z
F
of the flange coordinates.
X
F
Z
F
Y
X
T
Z
T
Y
T
Flange
coordinates
Tool
coordinates
F
X
F
Z
F
Y
F
X
F
Y
F
Rz = 180
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