YASKAWA YRC1000, Инструкция по эксплуатации

Страница: 93 / 454

System Setup
9
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93
9.3.3 Registering the posture data
The tool position data is angle data that shows the relationship between the flange
coordinates and the tool coordinates.
The angle by which the flange coordinates are turned in order to match the tool coordinates
can be entered.
Clockwise in the direction of the arrow is the positive direction.
Register in the following order: Rz
→ Ry → Rx.
In the following case, register Rz=180, Ry=90, Rx=0.
1. Select {ROBOT} from the main menu.
2. Select {TOOL}.
3. Select the desired tool number.
As shown in the explanation (2, 3) in section 9.3.2 "Registering coordinate data" on
page 90 the desired TOOL COORDINATE window appears.
4. Select the coordinate axis to be changed.
Select Rz first.
5. Enter the tool position data.
Enter the angle of rotation around Z
F
of the flange coordinates.
Flange coordinates
Tool coordinates
1
X
F
Z
F
Y
F
X
T
Z
T
Y
T
2
X
F
Z
F
Y
F
X
F
Y
F
Rz = 180