Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual page 91

[Tool data setting example]
A sample hand attachment and sample tool data setting in the coordinate system are shown below:
(1) Mechanical interface coordinate system is
shifted as a whole:
Tool data: (0,0,100,0,0,0)
Xm
100mm
Ym
Zm
Xm
100mm
Shifted
(3) Hand is tilted by 45deg to the Zm axis of
mechanical interface coordinate system:
Tool data: (0,0,100,45,-90,0)
Xm
100mm
Ym
Yt
Zm
Zt
Xm
100mm
B=-90deg
Shifted
Xt
Ym
Yt
Zm
Zt
Xt
Yt
Zt
Xt
Yt
Ym
Zt
Zm
Xt
Zt
Yt Yt
A=45deg
Xt
Zt
(2) Zt direction becomes perpendicular to
mechanical interface coordinate system:
Tool data: (0,0,100,0,-90,0)
Ym
Zm
Xm
100mm
Shifted
(4) Hand is tilted by 90deg to the Zm axis of
mechanical interface coordinate system:
Tool data: (0,0,100,90,-90,0)
100mm
Ym
Zm
Xm
100mm
Shifted
Xt
Xt
How to Operate Sequencer Direct 2-80
8Perform Sequencer Direct
Ym
Zt
Zm
Xm
100mm
Yt
Zt
Zt
Xt
B=-90deg
Yt
Ym
Zm
Zt
Xm
Yt
Zt
Zt
Yt
B=-90deg
Xt
A=90deg
Zt
Yt
Xt
Yt
Xt
Xt
Yt
Xt