Installation manual

Chapter 6 Programming
6-96
６．１２．１ Coordinate conversion matrix control
There are three coordinate conversions as follows:
(a) parallel motion：Add offset (△Ｘ，△Ｙ and △Ｚ) to teach data.
：Parallel motion conversion matrix
(b) Rotational motion：Add offset (△Ｙaw，△Ｐitch and △Ｒoll) to teach data.
：Rotational motion conversion matrix
(c)Coordinate conversion：Replace data of teach data coordinate system on the work
coordinate system.
：Work coordination conversion matrix
(a) and (b) are respectively explained here. If T-matrix including offset of both parallel
and rotational motion is changed to conversion matrix, parallel and rotational motion can
be performed simultaneously.
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