Mitsubishi CR750-Q Series Instruction Manual page 53

Item
Fix posture
Reverse course
Reverse Z
Tool Offset
Specify whether or not the posture should be fixed when the robot
processes a segment.
If the check box is enabled, the posture is fixed. If it is disabled, the
posture is not fixed.
Specify whether or not to reverse segment processing direction.
If the check box is enabled, the course is reversed. If it is disabled, the
course is not reversed.
Specify whether or not to reverse in the Z-axis direction of a dot
sequence when the robot processes a segment. If the check box is
enabled, the coordinate system is reversed in the Z-axis direction. If it is
disabled, the coordinate system is not reversed.
When a hand processing area traces an edge, it moves by matching the
Z direction of Orig2 to the normal line direction and the X direction of
Orig2 to the traveling direction. Thus, it is possible to determine
absolutely whether or not to reverse in the Z-axis direction by the
processing point ("Orig2") and the normal line direction on the face when
creating a hand.
(Example 1)
(Example 2)
*[The normal line direction] reverse for RH/RP series.
Offsets a line in the tool coordinate system.
Enter a value directly into the text box or enter the amount of offset in the
offset input dialog box displayed by clicking the button next to the text
box.
Tool Offset specifies the amount of deviation when the actual hand
processing point deviates from the processing point (coordinate
system "Orig2") on the hand model.
The figure below shows an example where the Y component is
corrected. It is possible to use Course Offset at the same time.
X
Y
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Explanation
→
→
CAD output result
Processing path after
offset calculation