Tool Coordinate Systems
This is the coordinate system of the tool mounted on the Joint #6 flange. It is also known as the end effector coordinate system.
Point data is defined by the position and orientation of the tool coordinate system with respect to a robot coordinate system or a local coordinate system. The position is specified by the position data (X, Y, Z) and the orientation is specified by the orientation data (U, V, W) that correspond with roll, pitch, and yaw.
You can also define and use your own tool coordinate systems. To define the tool coordinate systems, use Tlset or Robot Manager of the Epson RC+.
The default TOOL 0 coordinate systems are defined as follows according to the robot type.
SCARA Tool 0 coordinate system
The origin of tool 0 for SCARA robots is the center of the fourth joint (rotation joint). When the fourth joint is adjusted to the position of 0 degrees, the tool 0 coordinate system axes are parallel to the robot coordinate system axes. (See figure below.)
The tool 0 coordinate system rotates as the fourth joint rotates since the origin of the tool 0 coordinate system is fixed at the fourth joint (rotation joint).
| Symbol | Description |
|---|---|
| X, Y | Robot Coordinate Systems |
| xt0, yt0 | Tool 0 Coordinate Systems |
| xt1, yt1 | Tool 1 Coordinate Systems |
6-axis Tool 0 coordinate system
Table and ceiling mounting robots:
The origin of tool 0 is the center of the flange on the sixth joint. When all joint angles are 0 degree, the vertically upward direction is the tool X axis, the tool Y is the same direction of X axis in the base coordinate system, and the tool Z axis is perpendicular to the sixth joint flange. (See the figure below).
The tool 0 coordinate system moves as the 6-axis robot changes its orientation since the origin of the tool 0 coordinate system is fixed at the sixth joint.
Wall mounting robots:
The tool 0 coordinate system is defined as below.
(tl: abbreviation of Tool)
Table Top Mounting
Ceiling Mounting
Wall Mounting
N series Tool 0 coordinate system
Ceiling mounting robots:
When all joint angles are 0 degree, the tool 0 coordinate system has the X axis in –X axis direction, Y axis in the Y axis direction, and the Z axis in the –Z axis direction on the robot coordinate system. (See the figure below)
Table top mounting:
When all joint angles are 0 degree, the tool 0 coordinate system has the X axis in –X axis direction, Y axis in the Y axis direction, and the Z axis in the Z axis direction on the robot coordinate system. (See the figure below)
Ceiling Mounting
Table Top Mounting
