Nachi EZ-CFDL Series - Page 79

8.12 Setting of
the T
ool Constant
8.12.2
T
ool
angle
Referring to the plan of
the tool set the installation angle
of the tool. (Direction of the
tool coordinate system) Unit
is [deg]. Rotation order is Z
→
Y
→
X.
Setting example
In case of desiring to
put the direction of
the “Machine coordinate system (Base coordinate system)” and “T
ool
coordinate system” as below figure, it is not necessary to change the setting before the shipment. Keep the
setting value as (x, y
, z ) = (0, 0, 0 ).
(In general, there is no problem to use the robot with this setting.)
Floor installation type
Ceiling installation type
+X
+Z
TCP
Tool coordinate
system
+X
+Z
TCP
Tool
coordinate
system
+X
+Z
Machine
coordinate system