3.9 Tool Data Setting
3-34
<Setting Example>
"
Registering Tool Pose
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=90, Ry=90, Rx=0
Case of Tool A, B Case of Tool C
TOOL
TOOL NO. : 00
NAME :TORCH1
X 0.000 mm Rx 0.00 deg.
Y 0.000 mm Ry 0.00 deg.
Z 260.000 mm Rz 0.00 deg.
W 0.000 kg
Xg 0.000 mm
!
DATA
EDIT DISPLAY UTILITY
R1
S
C
L
ZF
Control
Point
Tool A
260 mm
145 mm
ZF
260 mm260 mm
Control
Point
Control
Point
Tool B Tool C
X 0.000 mm Rx 0.00 deg.
Y 0.000 mm Ry 0.00 deg.
Z 260.000 mm Rz 0.00 deg.
X 0.000 mm Rx 0.00 deg.
Y 145.000 mm Ry 0.00 deg.
Z 260.000 mm Rz 0.00 deg.
X
F
Z
F
Y
F
X
T
Z
T
Y
T
Flange
coordinates
Tool
coordinates
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