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ID : 1577
End-effector Samples and Their Tool Coordinates Definitions
The figure below show end-effector samples (chuck and other tools) and the following figure show their tool coordinate definitions.
End-effector Types and Their Coordinate Origins
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Tool Coordinates Definition Examples
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A The chuck is mounted in parallel with the orientation vector of the flange.
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B The chuck is mounted in parallel with the orientation vector of the flange.
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C The chuck is mounted at an angle of 45° to the orientation vector of the flange.
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D The chuck is mounted at right angles to the orientation vector of the flange.
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E
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F
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ID : 1577