YASKAWA DX100 Operator's Manual page 83

For material handling, press tending, cutting, and other applications

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Fig. 2-11: Motion about TCP with P1

Manipulator Coordinate Systems and Operations

2.3 Coordinate Systems and Axis Operation

<Example 2>TCP Change Operation with a Single Tool

(1) Set the two corners of the workpiece that the tool is holding as

TCP P1 and P2 respectively.

(2) By selecting two TCPs alternately, the workpiece can be moved as

shown below:

For registration of the tool file, refer to section 8.3 "Tool Data

Setting" of "DX100 INSTRUCTIONS" (RE-CTO-A215).

Fig. 2-12: Motion about TCP with P2

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