IAI R-unit RSEL, Инструкция по эксплуатации, Страница: 449 / 844

Chapter 7 6-axis Cartesian Robot
7.1 Guideline of Coordinate Systems
7-9
ME0392-4C
(3) Tool Coordinate System (Mechanical Interface Coordinate System)
● Mechanical Interface Coordinate System
It is a coordinate system that takes the center of the mechanical interface (on Wrist Flange)
on a robot as the origin. The direction outwards against the flange face is positive. The X-axis
on the mechanical interface coordinate system should be determined as Xm, Y-axis as Ym
and Z-axis as Zm. The direction from the positioning pin hole to the center of the flange is the
Ym-axis. This coordinate system is a datum to set the tool coordinate system.
Wrist Flange Face
● Tool Coordinate System
The tool coordinate system is a system to determine the position of the tool tip and the tool
posture, and is to be indicated by the offset (X, Y, Z) from the mechanical interface coordinate
origin and the posture (Rx, Ry, Rz).
The X-axis on the tool coordinate system should be determined as Xt, Y-axis as Yt and Z-axis
as Zt.
The tool tip is used to teach the position of the position data. The tool posture is necessary to
conduct the tool posture control.
Wrist Flange Face and Tool
The tool coordinate system equals to the mechanical interface coordinate system when it is
not defined.
7.2 Caution When Using Orthogonal Coordinate System Features
ME0392-4C
7-10
7.2 Caution When Using Orthogonal Coordinate System Features
7.2.1 Relation between axis numbers and axis patterns
(1) Axis number
Axis
Axis No.
Specific Axis Coordinate System Orthogonal Coordinate System
6-axis Cartesian Robot C1-Axis 6-axis Cartesian Robot X-Axis 1
6-axis Cartesian Robot C2-Axis 6-axis Cartesian Robot Y-Axis 2
6-axis Cartesian Robot C3-Axis 6-axis Cartesian Robot Z-Axis 3
6-axis Cartesian Robot R-Axis 6-axis Cartesian Robot Rx-Axis 4
6-axis Cartesian Robot B-Axis 6-axis Cartesian Robot Ry-Axis 5
6-axis Cartesian Robot T-Axis 6-axis Cartesian Robot Rz-Axis 6
Added Axis No. 7 － 7
Added Axis No. 8 － 8
(2) Axis pattern
(Upper) (lower)
Axis
Specific Axis
Coordinate
System
8-axis 7-axis T-axis B-axis R-axis C3-axis C2-axis C1-axis
Orthogonal
Coordinate
System
－ － Rz-axis Ry-axis Rx-axis Z-axis Y-axis X-axis
Used 1 1 1 1 1 1 1 1
Not Used 0 0 0 0 0 0 0 0
[Example] When C1- and C2-axes are indicated in Specific Axis Coordinate System
00000011
[Example]
When X- and Rx-axes are indicated in Orthogonal Coordinate System
00001001