IAI America XSEL-QX - Manual (Page 365)

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Part 4 Commands
3.3 Tool Coordinate System (Dedicated SCARA Function)
This coordinate system provides 128 sets of three-dimensional cartesian coordinates and rotating-
axis coordinates as defined by the dimensions (offsets) of a tool (hand, etc.) installed on the tool-
mounting surface. Note that tool coordinate system No. 0 is reserved by the system as a tool
coordinate system with zero offsets.
When any of the defined tool coordinate system numbers is selected, the tool tip, rather than the
center of the tool-mounting surface, will be used as the reference point in moving to the target
position.
Xoftn: X tool coordinate offset
Yoftn: Y tool coordinate offset
Zoftn: Z tool coordinate offset
Roftn: R tool coordinate offset
Xtn: Tool coordinate system, X-axis
Ytn: Tool coordinate system, Y-axis
Ztn: Tool coordinate system, Z-axis
Rtn: Tool coordinate system, R-axis
(“n” indicates tool coordinate system
number.)
Selecting a defined tool coordinate system and executing a jog command for the R-axis will result in
the following operation:
R-axis
Tool
Tool tip
Ytn
Rtn
Xtn
Roftn
Yoftn
Xoftn
Zoftn
Ztn