ATI Technologies Axia80-M20 - Page 32

Manual, F/T Sensor, Ethernet Axia
Document #9610-05-Ethernet Axia-09
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After the displacements, the user point of origin rotates in the following order:
1. The rst rotation is about the X-axis.
• Recall in this example R
x
= +90° rotation. The user point of origin rotates +90° about the X-axis, in the
following gure.
Figure 4.7—Tool Transformation : Rotation About the X-Axis
The robot side
of the sensor.
The tool side of
the sensor.
Customer tooling
X+
Y+
X+ Axis
after X rotation.
Y+ Axis
after X rotation
Z+
Z+ Axis
after X rotation
2. The second rotation is about the Y-axis of the new user output reference frame.
• In this example R
y
= +180° rotation. The user point of origin rotates +180° about the Y-axis of the new
user output reference frame, in the following gure.
Figure 4.8—Tool Transformation: Rotation About the Y-Axis
The robot side
of the sensor.
The tool side of
the sensor.
Customer tooling
X+Y+
X+ Axis
after X rotation.
Z+ Axis
after Y rotation
Y+ Axis
after Y rotation
Z+
3. The third and nal rotation is about the Z-axis of the new user output reference frame.
• In this example R
Z
= 0° rotation. Therefore, the user point of origin does not rotate any more.
After, the rotations are complete, the nal user reference frame of origin is set.