About Tool Coordinate System (Mechanical Interface Coordinate System); Mechanical Interface Coordinate System - Mitsubishi Electric CR750-Q Instruction Manual

4MELFA-BASIC V

4.5.4 About tool coordinate system (mechanical interface coordinate system)

To set the robot's control point at the leading end of the hand attached thereto, it is necessary to make tool
data settings. Tool data defines the position of the tool's leading end with reference to a mechanical
interface coordinate system that is established for the flange. Therefore, our explanation deals with the
mechanical interface coordinate system in the first place.
In helping you to understand the tool coordinate system, explanation here uses a vertical 6-axis robot by
way of example. For details about other models (vertical 5-axis robot, horizontal articulated arm robot, and
others), refer to
Page 471, "5.6 Standard Tool Coordinates"
(1)

Mechanical interface coordinate system

As shown in Fig. 4-6
called a mechanical interface coordinate system. X axis, Y axis and Z axis of the mechanical interface coor-
dinate system are denoted as Xm, Ym and Zm, respectively.
Zm is an axis which passes through the flange center and is perpendicular to the flange face. The
direction which goes outside from the flange face is + (plus). Xm and Ym are coplanar with the flange face.
A line joining the flange center with the positioning pin hole is represented by Xm axis. "+" direction of the
Xm axis is opposite to the pin hole as seen from the center.
Fig.4-6:Mechanical interface coordinate system
When the flange rotates, the mechanical interface coordinate system rotates, as well.
Fig.4-7:Rotation of flange and mechanical interface coordinate system
4-150 Coordinate system description of the robot
, a coordinate system having its origin point chosen at the center of the flange is
Flange center
フランジ中心
Ym
Xm
.
Flange
フランジ
Ym
Xm
Zm
Zm
(Fig. 4-7)
Ym
Xm
Zm