Neuromeka INDY7, Руководство пользователя

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03 | System Specifications and Interfaces
Mounting Tool
Use eight M4 bolts to secure the tools such as the standard grippers or any flanges to attach
some tools to the endtool flange of the robot. It is recommended to tighten the bolts with a
torque of 4.1 Nm.
The position of the robot is defined by the distance and orientation of the tool coordinate frame,
simply called tool frame, relative to the reference frame. The origin of the default tool frame is the
point where the end of the endtool flange meets the sixth joint axis. The direction emanating from
the origin to the endtool port defines the Y axis, and the Z axis is defined by the perpendicular
direction to the endtool flange surface. The X axis is automatically determined by the right-hand
rule. If you want to reflect the change of the attached tool to the change of the tool center point
and the tool frame, you must reset the tool frame. Refer to
Section 6.1 Robot Settings for setting
tool center point.
Mounting information for attaching to the endtool flange is as follows.