Neuromeka INDY7, User Manual

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
x, y, z (mm)
It is the distance from the endtool flange center point, i.e. the default center tool point,
to the newly defined tool center point. It is represented with respect to the default tool
frame consisting of x0, y0, and z0 axes, that is the distance is measured relative to x0,
y0, and z0 axes.

rx, ry, rz (deg)
These are the rotation angles of the newly defined tool frame at the new tool center
point relative to the default tool frame. The rotation is made by three consecutively
rotations of the default tool frame, now relocated at the newly defined tool center point,
that is the coordinate system consisting of
X
temp
, Y
temp
, and Z
temp
axes, based on the
fixed XYZ convention. The fixed XYZ convention rotates the relocated coordinate system,
first about the X-axis of the frame. The resulting rotated coordinate frame is rotated
next about the Y-axis of the original relocated coordinate frame. Lastly, the resulting
rotated frame (from the previous two rotations) is now rotated about the Z-axis of the
same original frame. Here, the total rotation is denoted by three angles of rotation about
X
temp
, Y
temp
, and Z
temp
axes, respectively.