Force Sense Coordinate System (Xyz) - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

3 Force Sense Function System Specifications

Force Sense Coordinate System (XYZ)

3.7.3
The assumed force sense coordinate system (XYZ) used in force sense function processing is defined as
follows.
Force sense coordinate
system (XYZ)
The force sense coordinate system (XYZ) is the plus direction coordinate system for the
direction receiving the reaction force when the robot is moved in the XYZ coordinate
system plus direction. The coordinate system origin point overlaps with that of the
mechanical interface coordinate system.
3-20 Coordinate System Definition
+Z
XYZ coordinate system (direction only)
+FX
+MX +MX
+MY +MY
+FY
+MZ +MZ
+FZ
* Refer to the separate "Detailed
Explanations of Functions and
Operations (BFP-A8869)" for
+Y
details on the definition of the XYZ
coordinate system.
+X