Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual page 90

8Perform Sequencer Direct
[How to decide tool data]
The tool data has the same components as the position data.
X, Y, Z: Shift amount. Moving amount from the center of flange to the tool position. (Unit is mm)
A, B, C: Rotation angles of coordinate axes. (Unit is deg)
A: Rotation angle around X axis
B: Rotation angle around Y axis
C: Rotation angle around Z axis
To decide each data, move the mechanical interface coordinate system at the center of flange in
order of (1) shift amount, (2) Z axis rotation, (3) Y axis rotation, (4) X axis rotation to accord with the
aimed tool coordinate system. In this case, the move amounts (1) - (4) (rotation amounts) indicates
the tool data.
Based on the example shown in the figure above, the figure below shows the steps to decide each
data. In this example, because steps 2 and 4 of steps (1) - (4) are not necessary, the steps 2 and 4
are omitted.
Xm
Mechanical interface
coordinate system
2-79 How to Operate Sequencer Direct
Ym
Zm
(1) Move offset
When shifted by 100mm
to Zm direction,
(X, Y, Z) = (0, 0, 100)
Tool data: (X,Y,Z,A,B,C) = (0,0,100,0,-90,0)
Yt
(3) Rotate -90 deg
Zt
around Y axis
Xt
Zt
Yt
Xt
(A, B, C) = (0, -90, 0)