Motoman PX2750, Manual

Page: 379 / 611

3.9 Tool Data Setting
3-34
<Setting Example>
"
Registering Tool Pose
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.
Register in the order of Rz
)
Ry
)
Rx.
The following, register Rz=90, Ry=90, Rx=0
Case of Tool A, B Case of Tool C
T O O L
TOOL NO. : 00
NAME :TORCH1
X
0.000 mm Rx 0.00 deg.
Y 0.000 mm Ry 0.00 deg.
Z 260.000 mm Rz 0.00 deg.
W 0.000 kg
Xg 0 . 0 0 0 m m
!
D A T A
E D I T D I S P L A Y UTILITY
R 1 S C
L
Z
F
Control
Point
Tool A
260 mm
145 mm
Z
F
260 mm 260 mm
Control
Point
Control
Point
Tool B Tool C
X 0 . 0 0 0 mm Rx 0.00 deg.
Y 0.000 mm Ry 0.00 deg.
Z 2 6 0 . 0 0 0 mm Rz 0.00 deg.
X 0 . 0 0 0 mm Rx 0.00 deg.
Y 145.000 mm Ry 0.00 deg.
Z
2 6 0 . 0 0 0 mm Rz 0.00 deg.
X
F
Z
F
Y
F
X
T
Z
T
Y
T
Flange
coordinates
Tool
coordinates