Installation manual

Chapter 6 Programming
6-95
６．１２ Tip offset control
Method control to input offset value to the original playback trajectory when in RMRC
control during playback control.
Tip offset control can be divided broadly in two as follows:
・Coordinate conversion matrix control
Parallel motiom conversion matrix control
Rotational motiom conversion matrix control
Work coordinate system conversion matrix control
・Tip position offset control
Mechanical interface coordinate system
Absolute deviation offset control
Mechanical interface coordinate system
Relative deviation offset control
Base coordinate system
Absolute deviation offset control
Base coordinate system
Relative deviation offset control
Trajectory coordinate system
Absolute deviation offset control
Trajectory coordinate system
Relative deviation offset control
Trajectory coordinate system means the one on the playback tip trajectory.
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