Manual, F/T Sensor, Data Acquisition (DAQ) Systems
Document #9620-05-DAQ.indd-20
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Rotation allows the customer to rotate the axes while maintaining the frame origin. Figure A.2
shows the direction of rotation about the axis. Rotation is measured in radians.
When a value is entered for RX, RY, or RZ the following will result:
• RX value will rotate Y and Z about X in the direction shown (see Figure A.2).
• RY value will rotate X and Z about Y in the direction shown.
• RZ value will rotate X and Y about Z in the direction shown.
In a tool transformation, the order of the rotations is critical. The X-rotation occurs rst, followed
by rotation about Y (in its new orientation), then Z. Therefore, rotations MUST be expressed in this
order
Figure A.2—Rotating Reference Frame
Z+
X+ Y+
X-Y-
Z-
X+
This example shows
a rotation of 1.571 radians
of the X axis.
Y+ Axis
after X Rotation
Z+ Axis
after X Rotation
Sensing Reference Frame Origin
(Customer Applied)
Sensing Reference Frame Origin
(Factory Set)
Tool Side of Transducer
Robot Side of Transducer
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