Nachi EZ-CFDL Series, Instruction Manual

Page: 20 / 84

3.5 Tool constant settings
Tool length setting example (2)
In this example, the center point of the deburring tool is used as the TCP (Tool Center Point).
SIDE VIEW SIDE VIEW
Based on the “Wrist coordinate system”, the TCP position
(=Tool length) is;
(x, y, z) = (-210, 0, 110)
And, if the “Wrist coordinate system” is rotated like the
following, the desired direction of the tool coordinate
system is acquired. (The order is z,y,x)
X axis
: 180[deg]
Y axis : -90[deg]
Z axis : No rotation (0[deg])
TOP VIEW
Tool coordinate
system
+Z
+Y
+X
TCP
(x,y,z) = (-210, 0, 110)
y = 0
(No offset)
Wrist coordinate
system
+Y
+Z
+X
x = -210
The origin (0,0,0) of the Wrist
Coordinate System is the
flange center point.
For details, see P4-4.
z = +110