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5Functions set with parameters
A case for a horizontal 4-axis robot
Zt
Xt
Default tool coordinate system：Ｘｔ，Ｙｔ，Ｚｔ
An axis element of the tool conversion data may or may not be valid depending on the robot model.
See
Table 5-8
to set the appropriate data.
Table 5-8:Valid axis elements of the tool conversion data depending on the robot model
Type
RV-3SD, RV-6SD,
RV-12SD/SDL, RV-18SD
RV-3SDJ
RH-6SDH/12SDH/18SDH
Note1) O: Valid, X: Invalid. This is meaningless and ignored if set., X: The setting value is fixed to 0.
If a value other than 0 is set, operation may be adversely affected.
5-365 Standard Tool Coordinates
Mechanical interface
Yt
Xr
Robot coordinate system：Ｘｒ，Ｙｒ，Ｚｒ
Number of
axis
6
5
4
Zr
Yr
An axis element of the tool conversion data
X
Y
O
O
X
X
O
O
<A case for a horizontal 4-axis robot>
1) Sample parameter setting
Parameter name: MEXTL
Value: 0, 0, -10, 0, 0, 0
2) Sample Tool instruction setting
1 Tool (0,0,-10,0,0,0)
Horizontal 4-axis robots can basically
offset using parallel shifting. Note that
the orientation of the tool coordinate
system is set up differently from that
of vertical robots.
Note1)
Z
A
O
O
O
O
X
O
X
B
C
O
X
X
X
O
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