Effects Of Use Of Tool Coordinate System - Mitsubishi Electric CR750-Q Instruction Manual

4MELFA-BASIC V

(3) Effects of use of tool coordinate system

1) Jogging and teaching operations
When placing the robot into tool-jog mode, you can let it operate in the direction of the face of the robot
hand. This makes it easier to adjust the posture of the robot hand toward the work concerned or the
posture of the work being held by the robot hand.
In the case of tool data setting being not made
Travel in the direction of X axis
Xm
Travel in the direction of A axis
Ym
Xm
Fig.4-9:Tool jogging operation with/without tool data
4-152 Coordinate system description of the robot
Ym
Ym
Zm
Zm
Motion along the Xm axis of
the mechanical interface coor-
dinate system
Ym
Zm
Zm
The robot hand rotates on the
Xm axis of the mechanical
interface coordinate system,
thus having a wide range of
motion at its leading end.
In the case of tool data setting being made
Travel in the direction of X axis
Motion along the Xt axis of
the tool coordinate system.
Motion parallel/perpendicu-
lar to the face of the robot
hand assures a register
with the orientation of the
work.
Travel in the direction of A axis
The robot hand rotates on the
Xt axis of the tool coordinate
system. Rotational motion on
the leading end of the robot
hand permits a change of pos-
ture without the need to dis-
place the work from its original
position.
Yt
Yt
Zt
Zt
Xt
Yt
Yt
Xt Zt
Zt