Force Sense Coordinate System (Mechanical Interface); Force Sense Coordinate System (Tool) - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

Force Sense Coordinate System (Mechanical Interface)

3.7.1
The force sense coordinate system (mechanical interface) is defined as follows.
Force sense coordinate
(mechanical interface)
The force sense coordinate system (mechanical interface) is the plus direction coordinate
system for the direction receiving the reaction force when the robot is moved in the
mechanical interface coordinate system plus direction. The coordinate system origin point
overlaps with that of the mechanical interface coordinate system. (In this coordinate system,
the mechanical interface coordinate system symbols are reversed.)

Force Sense Coordinate System (Tool)

3.7.2
If the tool coordinate system is set, the force sense coordinate system (tool) is defined as follows based on the
set tool coordinate system.
Force sense coordinate system
(tool)
The force sense coordinate system (tool) is the plus direction coordinate system for the direction receiving the
reaction force when the robot is moved in the tool coordinate system plus direction. The coordinate system
origin point overlaps with that of the tool coordinate system. (In this coordinate system, the tool coordinate
system symbols are reversed.)
+FZm
+MZm
system
+MYm
+FYm
+Xm
Mechanical interface coordinate system
+FZt
+MYt
+FYt
3 Force Sense Function System Specifications
+FXm
+Ym
+MXm
Mechanical interface coordinate
system
+Zm
+FXt
+MXt
+MZt
+Xt
* Refer to the separate "Detailed
Explanations of Functions and
Operations (BFP-A8869)" for
details on the definition of the
mechanical interface coordinate
system.
+Yt
Tool coordinate system
* Refer to the separate
"Detailed Explanations of
Functions and Operations
(BFP-A8869)" for details on
the definition of the tool
coordinate system.
+Zt
Coordinate System Definition 3-19