Nachi EZ-CFDL Series - Page 20

3.5 Tool constant settings
T
ool length setting example (2)
In this example, the center point
of the deburring tool
is used as the TCP (Too
l Center Point).
SIDE
VIEW
SIDE
VIEW
Based on the “Wrist coordinate system”, the TCP position
(=Tool length) is;
(x, y, z) = (-210, 0, 110)
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)
X
axis
:
180[deg]
Y
axis
:
-90[deg]
Z
axis
:
No
rotation
(0[deg])
TOP VIEW
Tool coordinate
system
+Z
+Y
+X
TCP
(x,y,z) = (-210, 0, 110)
y = 0
(No offset)
Wrist coordinate
system
+Y
+Z
+X
x = -210
The origin (0,0,0) of the Wrist
Coordinate System is the
flange center point.
For details, see P4-4.
z = +110