YASKAWA NX100 Instructions Manual page 86

8.3 Tool Data Setting
Registering Tool Angle
The tool pose data is angle data which shows the relation between the flange coordinates and
the tool coordinates. The angle when the flange coordinates are rotated to meet to the tool
coordinates becomes an input value. Clockwise toward the arrow is the positive direction.
Register in the order of Rz
In the following case, register Rz=180, Ry=90, Rx=0
Operation
1 Select {ROBOT} under the
main menu.
2 Select {TOOL}.
3 Select the desired tool num-
ber.
4 Select the desired coordinate
axis to modify.
5 Input the tool pose data.
Ry Rx.
Flange
X
F
coordinates
Y
F
Z
F
X
Tool
Y
coordinates
Z
T
In the same way shown in Explanation 2, 3 in "Registering Coor-
dinate Data", display the desired TOOL COORDINATE window.
First, select Rz.
Input rotation angle around Z
X
0.000
Y 0.000
0.000
Z
8-20
T
T
Explanation
of the flange coordinates.
F
X
F
Y
F
Y'
F
Z
F
X'
F Rz = 180
mm deg.
Rx 0.00
mm Ry 0.00 deg.
mm Rz 180.00 deg.