8 System Setup
DX100 8.3 Tool Data Setting
8-21
8.3.1.3 Registering Tool Angle
The tool pose data is angle data which shows the relation between the
flange coordinates and the tool coordinates. The angle when the flange
coordinates are rotated to meet to the tool coordinates becomes an input
value. Clockwise toward the arrow is the positive direction. Register in the
order of Rz Ry Rx.
In the following case, register Rz=180, Ry=90, Rx=0
1. Select {ROBOT} under the main menu.
2. Select {TOOL}.
3. Select the desired tool number.
– In the same way as shown in Explanation 2, 3 in
chapter 8.3.1.2 “Registering Coordinate Data” at page 8-18,
display the desired tool coordinate window.
4. Select the desired coordinate axis to modify.
– First, select Rz.
5. Input the tool pose data.
– Input rotation angle around Z
F
of the flange coordinates.
6. Press [ENTER].
– The rotation angle of Rz is registered.
In the same way, register the angle of Ry, Rx.
X
F
Z
F
Y
X
T
Z
T
Y
T
Flange
coordinates
Tool
coordinates
F
X
F
Z
F
Y
F
X
F
Y
F
Rz = 180
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