Novanta ATI Axia90 F, Manual

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Manual, F/T Sensor, Axia90
Document #9620-05-B-Axia90-03
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B-23
After the displacements, the user point of origin rotates in the following order:
1.
The first rotation is about the X-axis.
•
Recall in this example R
x
= +90° rotation. The user point of origin r90° about the X-axis, in the
following figure.
Figure 4.2—Tool Transformation : Rotation About the X-Axis
(sensor shown for reference only)
The robot side
of the sensor.
The tool side of
the sensor.
Customer tooling
X+
Y+
X+ Axis
after X rotation.
Y+ Axis
after X rotation
Z+
Z+ Axis
after X rotation
2.
The second rotation is about the Y-axis of the new user output reference frame.
•
In this example R
y
= +180° rotation. The user point of origin r180° about the Y-axis of the new
user output reference frame, in the following figure.
Figure 4.3—Tool Transformation: Rotation About the Y-Axis
(sensor shown for reference only)
The robot side
of the sensor.
The tool side of
the sensor.
Customer tooling
X+ Y+
X+ Axis
after X rotation.
Z+ Axis
after Y rotation
Y+ Axis
after Y rotation
Z+
3. The third and final rotation is about the Z-axis of the new user output reference frame.
•
In this example R
Z
= 0° rotation. Therefore, the user point of origin does not rotate any more.
After, the rotations are complete, the final user reference frame of origin is set.