Nachi EZ-CFDL Series - Page 19

3.5 Tool constant settings
T
ool length setting example (1)
In this example, the center point
of the gripper is
used as the TCP (T
ool Center Point).
FRONT VIEW
SIDE VIEW
Based on the “Wrist coordinate system”, the TCP position
(=Tool length) is;
(x, y, z) = (0, -65, 190)
And,
if
the
“Wrist
coordinate
system”
is
rotated
like
the
following, the desired direction of the tool coordinate
system is acquired. (The order is z,y,x)
Around x axis
: 180 [deg]
Around y
, z axis
: No rotation (0[deg])
TOP VIEW
INFO.
Normally, accurate motion path of the TCP is not required for most of the handling
application. (Only the accurate position repeatability is required) So the setting accuracy of
the TCP coordinates does not matter. However, if the application requires accurate motion
path, please set the TCP position accurately referring to “Setting the tool length
automatically”.
Tool coordinate
system
+X
+Y
+Z
TCP
(x,y,z) = (0, -65, 190)
Wrist coordinate
system
+Y
+Z
+X
x = 0
(No offset)
The origin (0,0,0) of the Wrist
Coordinate System is the
flange center point.
For details, see P4-4.
y = -65
z = +190