Control Point Change - YASKAWA DX100 Operator's Manual

DX100

2.3.7.1 Control Point Change

2 Manipulator Coordinate Systems and Operations
2.3 Coordinate Systems and Axis Operation
• In user coordinates, wrist axis rotations are based on X-, Y-, or Z-axis
of the user coordinates.
The tool tip position (TCP) is the target point of axis operations and is set
as the distance from the flange face. The control point change operation
is an axis operation that involves selecting a tool from the list of registered
tools (Refer to section 2.3.4.1 "Selecting Tool" on page 2-11), and then
manipulating the axes while changing the TCP. This can be performed
with all coordinates except the joint coordinates. The axis operation is the
same as that of the motion about TCP.
<Example 1>TCP Change Operation with Multiple Tools
(1) Set the TCPs for Tool 1 and Tool 2 as P1 and P2, respectively.
(2) When Tool 1 is selected to perform an axis operation, P1 (Tool 1's
TCP) is the target point of the operation. Tool 2 follows Tool 1 and
is not controlled by the axis operation.
(3) On the other hand, When Tool 2 is selected to perform an axis
operation, P2 (Tool 2's TCP) is the target point of the axis opera-
tion. In this case, Tool 1 just follows Tool 2.
Fig. 2-9: Selection of Tool 1 and axis
operations with controlling P1
Tool 2
Tool 1
P1 P2
Workpiece
2-18
Z-axis
+
Y-axis
+
X-axis
+
Z-axis
Y-axis
X-axis
Fig. 2-10: Selection of Tool 2 and
axis operations with controlling P2
P1
Workpiece
RE-CSO-A037
155507-1CD
P2
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