YASKAWA DX200 - Page 110

8 System Setup
8.3 Tool Data Setting
8-23
182582-1CD
182582-1CD
MH900, DX200 Controller
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 section 8.3.1.2
“Registering Coordinate Data" on page 8-20, 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.
Ry must be the input rotation angle around Y’
F
flange coordinates.
X
F
Z
F
Y
F
X
T
Z
T
Y
T
Flange
coordinates
Tool
coordinates
X
F
Z
F
Y
F
X
F
Y
F
Rz = 180
Z
F
Z
F
Y
F
(Y )
F
X
F
Ry = 90
110 of 552