Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 54

Base transformation A rotating axis angle/B rotating axis angle/C rotating axis angle
Set the rotating axis angle of the base coordinate as viewed from the world coordinates at the Multiple CPU system power
supply ON, or reset.
The definition of a coordinate rotating axis angle is shown below. The clockwise rotation of a coordinate axis is the forward
direction.
Z
C (Rotation angle for turning Z-axis )
Setting example
The following example is for when the setting values of base transformation are as follows.
Item
Base transformation X coordinate
Base transformation Y coordinate
Base transformation Z coordinate
Base transformation A rotating axis angle
Base transformation B rotating axis angle
Base transformation C rotating axis angle
Zw
World coordinate system
If base transformation is set, the base coordinate system can be shifted against the world coordinate system.
Because the position of the robot (base coordinate system) does not change, the programs and positions are
used as they are and all positioning coordinates (world coordinate system) are shifted together equally. If "X
coordinate=10, Y coordinate=20, Z coordinate=30, A rotating axis angle=0, B rotating axis angle=0, C rotating
axis angle=0" is set to base transformation, the world coordinates as viewed from the base coordinate system
are shifted to "X coordinate=-10, Y coordinate=-20, Z coordinate=-30, A rotating axis angle=0, B rotating axis
angle=0, C rotating axis angle=0".
5 MACHINE CONTROL PARAMETERS
52
5.2 Machine Parameter
Y
B (Rotation angle for turning Y-axis )
A (Rotation angle for turning X-axis )
X
Setting value
-1
800000(10
-1
700000(10
-1
0(10 [m])
-5
0(10 [degree])
-5
0(10 [degree])
9000000(10
Zb
Yw
700000
800000
Xw
[m])
[m])
-5
[degree])
Xb
90[degree]
Base coordinate system