Base/Tool Transformation Change Function - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

9.4

Base/Tool Transformation Change Function

This function changes the base transformation value and tool transformation value of the machine. When the base
transformation value and tool transformation value are changed, the machine coordinate values (world coordinates, base
coordinates) are changed.
: Change value, : Do not change value
Base/tool Machine monitor device
transformation
[Md.2061] to [Md.2066]
change method
Base translation (X to C)
(D53242+128m to
D53253+128m)
Set base 
transformation value

Set tool
transformation value
Base/tool transformation data setting
■Base/tool transformation
Set the transformation value for base/tool transformation in [Motion Control Parameter]  [Machine Parameter]. The base
transformation and tool transformation set in machine parameter are the initial base transformation value and initial tool
transformation value.
Refer to machine parameter for details of machine parameter. (Page 48 Machine Parameter)
■Base/tool transformation change method
Set the change method for changing base/tool transformation in "[Cd.2163] Base/tool translation change method
(D52901+32m)".
Setting Changing data
value
0 Base transformation
1
2 Tool transformation
3
*1 The initial base transformation value is the base transformation value set in the machine parameter.
*2 The initial tool transformation value is the tool transformation value set in the machine parameter.
■Base/tool transformation setting
Set the position type(POSE) value that changes the value of base transformation/tool transformation to the base/tool
transformation change setting register.
Coordinate Base/tool transformation setting register
X [Cd.2164] Base/tool translation setting (D52902+32m, D52903+32m)
Y [Cd.2165] Base/tool translation setting (D52904+32m, D52905+32m)
Z [Cd.2166] Base/tool translation setting (D52906+32m, D52907+32m)
A [Cd.2167] Base/tool translation setting (D52908+32m, D52909+32m)
B [Cd.2168] Base/tool translation setting (D52910+32m, D52911+32m)
C [Cd.2169] Base/tool translation setting (D52912+32m, D52913+32m)
*1 The setting range differs by machine type. Refer to the instruction manual of the machine library.
[Md.2069] to [Md.2071]
Tool translation (X to Z)
(D53256+128m to
D53261+128m)


Details
Change the base transformation value to the value of "[Cd.2164] to [Cd.2169] Base/tool translation setting (X to
C)(D52902+32m to D52913+32m)".
Change the base transformation value to the initial base transformation value.
Change the tool transformation value to the value of "[Cd.2164] to [Cd.2169] Base/tool translation setting (X to
C)(D52902+32m to D52913+32m)".
Change the tool transformation value to the initial tool transformation value.
[Md.2025] to [Md.2031] [Md.2053] to [Md.2059]
Feed current value (world Feed current value (base
coordinate system)(X to coordinate system)(X to
FL1)(D53176+128m to FL1)(D53228+128m to
D53188+128m) D53240+128m)
 
 
*1
*2
*1
Setting range
-2147483648 to 2147483647(10
-35999999 to 35999999(10
9 AUXILIARY AND APPLIED FUNCTIONS
9.4 Base/Tool Transformation Change Function
9
-1
[m])
-5
[degree])
101