Tool Coordinate System And Sensor Coordinate System - YASKAWA DX200 Instructions Manual

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3.7.1 Tool Coordinate System and Sensor Coordinate System

X
Bottom surface of the sensor
3 Setup of Hand Guiding Function
3.7 Setting of Sensor Mounting Angle
Perform chapter 3.6 "Tool Setting" before this setting.
If the value except for the possible values is input, when the general
output 4081 (#15110) of the hand guiding function enable signal is turned
ON, the following alarm is displayed.
8001: Parameter Setting error, Sub-code: Variable number
[Tool Coordinate System]
The tool coordinate is defined for the tool tip, and the Z-axis is the effective
direction of the tool mounted on the wrist flange of the manipulator.
[Sensor Coordinate System]
The sensor coordinate is defined for the force sensor. The coordinate
system can be confirmed by the engravement on the bottom surface of
the sensor.
Y
3-7
X-axis
Y-axis
Z-axis
Tool Coordinate System
Y
X
Upper surface of the sensor
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Y
Z
Side of the sensor
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