2.3.5. Commoncoordinate check

2.3.5. Commoncoordinate check

 

When the common coordinate of the cooperation robot is set, you can always check the setting from the screen of 『Common coordinate of cooperation robot』.

 

Caution

 

l Checking is possible only when the cooperation control is in the <Enable> mode.

 

l The relationship of the position Rx, Ry and Rz of the common coordinate to the robot coordinate is as follows.

①    Rotate its robot (No. 2) coordinate (ref) to X axis direction by γ angle.

②    Rotate its robot (No. 2) coordinate (ref) to Y axis direction by β angle.

③    Rotate its robot (No. 2) coordinate (ref) to Z axis direction by α angle.

 

 

Figure 2.6 Common coordinate position conversion

 

④    The position in the common coordinate is the position rotated by γ,β and α from the its own robot (No. 2) base coordinate.