YASKAWA DX200 - Page 109

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182582-1CD
182582-1CD
8 System Setup
8.3 Tool Data Setting
MH900, DX200 Controller
– The coordinate data is registered.
<Setting Example>
In case of Tool A, B
In case of Tool C
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
ZF
260mm
145mm
ZF
260 mm260 mm
TCP
Tool A
TCP
TCP
Tool B Tool C
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