IAI America XSEL-QX - Manual (Page 362)

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Part 4 Commands
(1) Setting the load coordinate system
Set the offsets with respect to the base coordinate system.
x Setting example of load coordinate system
When defining load coordinate system Nos. 1 and 2 as shown below:
The offsets of load coordinate system No. 1 are set as Xofw1 = 150, Yofw1 = 200, Zofw1 = 0 and
Rofw1 = 30.
The offsets of load coordinate system No. 2 are set as Xofw2 = -400, Yofw2 = 100, Zofw2 = 25 and
Rofw2 = -20.
The figure below shows the edit screen for load coordinate system definition data on the PC
software for horizontal articulated robot, where load coordinate system Nos. 1 and 2 are set:
* Use a DFWK command to set load coordinate system offsets in a SEL program.
Home of load
coordinate system
No. 1
Home of load
coordinate
system No. 2
–Yb
30 q
+Yb
200
100
Yw2
–Xb
–400
–20 q
Xw2
+Yw1
+Xw1
+Xb
150