IAI RA Series, Инструкция по эксплуатации

Страница: 143 / 186

5. Practical Settings
135
[2] Cartesian Coordinate System
The cartesian coordinate system should be the right-hand system as shown in the figure below, and
each axis defines the direction of right-hand thread is the positive direction of revolution. Six values
of coordinates below are to express the position and posture.
• X, Y, Z : Coordinates to show the position in direction of X, Y and Z coordinates
(unit: mm)
• Rx, Ry, Rz : Coordinates to show the posture (unit: deg)
The posture data shows Rx: revolution in X coordinate direction, Ry: revolution in Y coordinate
direction and Rz: revolution in Z coordinate direction, and revolution should be held in the order of
(1) Rx → (2) Ry → (3) Rz. If the order of revolution is changed, the posture would not be the same
even with the same rotation angles. It is necessary that the revolution is held in the order of (1) to (3)
above. The figure below shows an example for the case of (Rx, Ry, Rz) = (90deg, 90deg, -90deg).
Definition of Posture
Z
Y
X
①
Z'
Y'
X'
②
X 軸まわりに
90°回転
Y' 軸まわりに
90°回転
Z'' 軸まわりに
-90°回転
T
T
Z''
Y''
X''
③
T
Z'''
Y'''
X'''
T
(Note) When it is required to handle the coordinates of the work acquired from the 3D vision
sensor with these coordinate conversion commands , make sure that the
revolution order in the 3D vision sensor for posture indication is also Rx → Ry → Rz.
Rotated for 90deg
around X-axis
Rotated for 90deg
around Y’-axis
Rotated for -90deg
around Z”-axis
(1)
(2)
(3)
ME0364-2B