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Appendix 2.2 Force Sense Coordinate System (Tool)
If the tool coordinate system is set, the force sense coordinate system (tool) is defined as follows based
on the set tool coordinate system.
Appendix 2.3 Force Sense Coordinate System (XYZ)
The assumed force sense coordinate system (XYZ) used in force sense function processing is defined
as follows.
The force sense coordinate system (tool) is the plus direction coordinate system for the direction
receiving the reaction force when the robot is moved in the tool coordinate system plus direction.
The coordinate system origin point overlaps with that of the tool coordinate system. (In this
coordinate system, the tool coordinate system symbols are reversed.)
Mechanical interface coordinate system
Force sense coordinate
system (tool)
Tool coordinate system
The force sense coordinate system (XYZ) is the plus direction coordinate system for the direction
receiving the reaction force when the robot is moved in the XYZ coordinate system plus direction.
The coordinate system origin point overlaps with that of the mechanical interface coordinate
system.
XYZ coordinate system (direction only)
Force sense coordinate
system (XYZ)
Summary of Contents for MELFA BFP-A3614
Page 1: ...Mitsubishi Industrial Robot Robot Seminar Textbook Force Sensor Application BFP A3614 ...
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Page 34: ... 23 2 F series a CR750 D controller ...
Page 35: ... 24 b CR751 D controller ...
Page 36: ... 25 c CR750 Q CR751 Q controller CPU module ...
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