YASKAWA motoman NX100 - Page 236

9.9 Tool Data Setting
9-36
 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.
The following, register Rz=180, Ry=90, Rx=0
Operation Explanation
1 Select {ROBOT} under the
main menu.
2 Select {TOOL}.
3 Select the desired tool num-
ber.
In the same way shown in Explanation 2, 3 in " Registering
Coordinate Data," the desired TOOL COORDINATE window is
shown.
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.
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
X
Y
Z
mm
mm
mm
0.000
Rx
Ry
Rz
deg.
deg.
deg.
0.00
0.00
180.00
0.000
0.000