Installation manual

Chapter 6 Programming
6-102
(c)Coordinate conversion matrix control
Providing two matrixes: work coordinate and teach data coordinate matrix, the trajectory
in the teach data coordinate system is converted to the one in the work coordinate
system.
Teach data coordinate system［N
d
O
d
A
d
P
d
］：Teach data acquisition coordinate system
Work coordinate system ［N
c
O
c
A
c
P
c
］：Actual work coordinate system
To convert the tip position/orientation [NOAP] of playback trajectory created from
teach data, into the work coordinate position/orientation [NOAP’], the deviation in teach
data coordinate is replaced to the one in the work coordinate.
A set value is indicated with absolute position matrix [P] and orientation matrix [NOA].
Only P is designated with a unit [mm]. As [NOA] is vector, it does not have a unit.
For a set value, the current set conversion matrix is indicated as a default value.
For resetting, a unit matrix has to be set for both absolute position matrix [P] and
orientation matrix [NOA]..
For a set [NOA] matrix, the following checks are performed:
・Each N, O and A vector have to be a unit vector.
・A vector has to be a cross product of N and O vector.
(N, O and A have to be a vector crossing each other at the right angle.)
教示データ座標系
先端位置[Ｐ
ｎ
]
先端姿勢[ＮＯＡ
ｎ
]
先端位置[Ｐ
ｎ
’]
先端姿勢[ＮＯＡ
ｎ
’]
ベース座標系
作業座標系
[P
d
]
Y
[P
c
]
X
Z
N
d
P
n
O
d
A
d
P
n
’N
c
A
c
O
c
0
0
0
0
0
1
0
1
0
1
0
0
[I]＝
Teach data coordinate system
Work coordinate system
Base coordinate system
tip position
tip position
tip orientation
tip orientation