Nortech Systems Adept RS-232/TERM - Manual (Page 145)

Moving a Robot or Motion Device With the MCP
Adept SmartController User’s Guide, Rev. E 145
NOTE: Figure C-15 and Figure C-16 are drawn with the assumption that
the TOOL transformation is set to NULL (all values are 0). If a TOOL
transformation is in effect, the tool coordinate system will be offset and
rotated by the value of the TOOL transformation. Any motion in tool
state will now be relative to the offset coordinate system, and not the
center of the tool flange. See the
V+ Language Reference Guide for details
on TOOL transformations.
Figure C-15. TOOL State (Four-Axis SCARA)
T1
RZ
6
RY
5
RX
4
Z
3
Y
2
X
1
STEP
X direction
Y direction
Z direction
Rotation about
Tool Z axis
Gripper
+X
+Y
+RZ
Keyway
+Z
+X
+Y
+