YASKAWA NX100 Instructions

8.3 Tool Data Setting
8-20
 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
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 Coor-
dinate Data", 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.
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
X
Y
Z
mm
mm
mm
0.000
Rx
Ry
Rz
deg.
deg.
deg.
0.00
0.00
180.00
0.000
0.000

YASKAWA NX100 Specifications

General

Manufacturer	YASKAWA
Model	NX100
Operating Temperature	0 to 45°C
Humidity	20 to 80% RH (non-condensing)
Communication Interfaces	Ethernet
Safety Standards	ISO 10218-1
Power Supply	200-230V AC, 50/60Hz
Storage Temperature	60°C