ATI Technologies 9105-PS-1 - Appendix A - Tool Transformation; Tool Transformation Procedures

Manual, F/T Sensor, Data Acquisition (DAQ) Systems
Document #9620-05-DAQ.indd-20
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Appendix A – Tool Transformation
The tool transformation allows you to enter a series of tool transformations in order to measure the forces and
torques acting at a point other than the origin of the sensor. If you specify both rotations and displacements within
a particular tool transformation, displacements are performed rst, in the order DX, DY, DZ, then rotations are
performed, in the order RX, RY, RZ. If it is critical that rotations occur before displacements, entering a tool
transformation with only rotations before entering a second tool transformation with displacements.
Tool Transformations Screen Controls:
• Displacement DX, DY, and DZ: The displacement along each axis is measured in the distance
component of the calibration’s torque units, so if the sensor was calibrated to use Newton-meters as
the torque unit, the displacement is measured in meters.
• Rotations RX, RY, and RZ: The rotation about each axis, in radians.
• Add: Adds the current tool transformation to the transformation queue.
• Remove: Removes the highlighted transformation from the queue, also lls the displacement and
rotation controls with the values of the removed transformation.
• Cancel: Returns to the main form without applying any changes made to the transformation queue.
• Apply Transformation: Applies transformations in the queue and returns to the main form.
Displacement allows the customer to move the sensing reference frame origin along the X, Y,
and Z axes. Displacement should be calculated and values should be entered before rotation.
Displacement is measured in units which are set as either Nm or in-lbs. on the Calibration Screen.
Figure A.1—Displacement of Sensing Reference Frame Origin
Z+
Sensing Reference Frame Origin
(Factory Set)
Sensing Reference Frame Origin
(Customer Applied)
Origin movement along X Axis
Origin movement along Y Axis
Origin movement along Z Axis
X+ Y+
X-Y-
Z-
Tool Side of Transducer
Robot Side of Transducer