Figure C-15. Tool State (Four-Axis Scara) - adept technology Adept RS-232/TERM User Manual

NOTE: Figure C-15 and Figure C-16
the TOOL transformation is set to NULL (all values are 0). If a TOOL
transformation is in effect, the tool coordinate system will be offset and
rotated by the value of the TOOL transformation. Any motion in tool
state will now be relative to the offset coordinate system, and not the
center of the tool flange. See the
on TOOL transformations.
+Y
+X
Keyway
+Y
+X

Figure C-15. TOOL State (Four-Axis SCARA)

Adept SmartController User's Guide, Rev. E
Moving a Robot or Motion Device With the MCP
are drawn with the assumption that
V+ Language Reference Guide
+RZ
+Z
+
f or details
X
X direction
1
Y
Y direction
2
Z
Z direction
3
RX
4
RY
5
Rotation about
RZ
Tool Z axis
6
T 1
Gripper
STEP
145