IAI TTA Series - Page 266

Chapter 7 Appendix7.1 Work and Tool Coordinate System Features for Linear Axis
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2) When having the tool tip on Tool Coordinate System No. 1 to perform PTP positioning from
Position No. 5 to No. 6 in Work Coordinate System No. 2;
Offset Work Coordinate
System No.
X [mm] Y [mm] Z [mm] R [deg]
2 150.000 300.000 0.000 45.000
Offset Tool Coordinate
System No.
X [mm] Y [mm] Z [mm] R [deg]
1 10.000 21.000 -6.000 45.000
Coordinate Data
Position No.
Axis1(X) Axis2(Y) Axis3(Z) Axis4(R)
5 0.000 0.000 0.000 0.000
6 50.000 40.000 0.000 -45.000
40
50
-45°
45°
Xw2
Yw2