Tool Coordinate System - Mitsubishi Electric CR750-Q Instruction Manual

(2) Tool coordinate system

A tool coordinate system is one that is defined for the leading end of the robot hand (control point for the
robot hand).
It is obtained by shifting the origin point of a mechanical interface coordinate system to the leading end of
the robot hand (control point hand) and adding given rotational elements.
X axis, Y axis and Z axis of the tool coordinate system are denoted as Xt, Yt and Zt, respectively.
Fig.4-8:Mechanical interface coordinate system and tool coordinate system
Tool data consists of the same elements as position data.
X, Y, Z: Amount of shift. Amount by which the origin point of the mechanical interface
A, B, C: Angle of rotation of each coordinate axis (in degrees)
A → Angle of rotation on X axis
B → Angle of rotation on Y axis
C → Angle of rotation on Z axis
Zm
Xm
coordinate system is shifted to agree with that of the tool coordinate system (in mm).
Mechanical interface
Ym
メカニカルインタフェース
座標系
coordinate system
Zt
Tool coordinate
system
Coordinate system description of the robot 4-151
4MELFA-BASIC V
Yt
ツール座標系
Xt