Mitsubishi Electric MELFA BFP-A8787-F - Page 91

8Perform Sequencer Direct
How to Operate Sequencer Direct 2-80
[Tool data setting example]
A sample hand attachment and sample tool data setting in the coordinate system are shown below:
(1) Mechanical interface coordinate system is
shifted as a whole:
Tool data: (0,0,100,0,0,0)
Xm
Ym
Zm
Xt
Yt
Zt
Xm
Ym
Zm
Xt
Yt
Zt
100mm
Ym
Zm
Xm
Yt
Zt
Xt
100mm
Shifted
Ym
Zm
Xm
Yt
Zt
Xt
Yt
Zt
Xt
B=-90deg
A=90deg
Xt
Yt
Zt
Ym
Zm
Xm
Yt
Zt
Xt
Yt
Zt
Xt
B=-90deg
Yt
Zt
Xt
A=45deg
(2) Zt direction becomes perpendicular to
mechanical interface coordinate system:
Tool data: (0,0,100,0,-90,0)
Ym
Zm
Xm
Yt
Zt
Xt
Yt
Zt
Xt
B=-90deg
100mm
100mm
Shifted
100mm
Shifted
100mm
Shifted
(3) Hand is tilted by 45deg to the Zm axis of
mechanical interface coordinate system:
Tool data: (0,0,100,45,-90,0)
(4) Hand is tilted by 90deg to the Zm axis of
mechanical interface coordinate system:
Tool data: (0,0,100,90,-90,0)
Xm
Ym
Zm
Xt
Yt
Zt
100mm
Xm
Ym
Zm
Xt
Yt
Zt
100mm