Coordinate System Definition - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

3 Force Sense Function System Specifications

3.7 Coordinate System Definition

The force and moment coordinate systems used with the force sense function are summarized in "Table 3-5".
Coordinate System Name
Force sense coordinate system
(mechanical interface)
Force sense coordinate system
(tool)
Force sense coordinate system (XYZ)
Force sensor coordinate system
A definition of each coordinate system is described below.
3-18 Coordinate System Definition
Table 3-5: Force sense coordinate system list
Coordinate system that forms reference for calibration
(See section
Coordinate system for force sense function
(when tool selected)
Coordinate system for force sense function
(when XYZ selected)
Coordinate system for force sensor
Description
6.5.2 for details on calibration.)