To Next Page

To Previous Page

4-152 Coordinate system description of the robot

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.

Fig.4-9:Tool jogging operation with/without tool data

In the case of tool data setting being not made

In the case of tool data setting being made

Travel in the direction of X axis

Travel in the direction of A axis

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.

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.

Motion along the Xm axis of

the mechanical interface coor-

dinate system

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.

Mitsubishi Electric CR750-Q User Manual

Questions and Answers: