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(2) Installation angle
For the installation angle (FSXTL), set the rotation angle of the force sensor coordinate system for
the mechanical interface coordinate system in the force sensor parameter setting.
When installing in the direction described in
as follows.
+Xm
Mechanical interface
coordinate system
Rotation angle of the force sensor coordinate system for the mechanical interface
Parameter installation angle (FSXTL)
Force sensor
1F-FS001-W200
1F-FS001-W1000
"2.2 Install the Force
+Zm
Y axis rotation direction = B [deg] = 180 [deg]
Installation angle (FSXTL) [deg]
A
(X axis rotation)
0
0
-19-
Sensor", the installation angle is
+Ym
+FYs
(When installing in the direction described in
"2.2 Install the Force Sensor")
B
(Y axis rotation)
180
180
Force sensor
coordinate system
+FZs
+FXs
C
(Z axis rotation)
0
0
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