TCP Rotation Occurs Around Wrong Axis (X ↔ Z Confusion)

    • New

    Hi everyone,


    I'm currently working with a Yaskawa Motoman MH24 robot (controlled via DX200) and I'm having an issue with tool orientation and rotation behavior.

    When I try to rotate the tool around the X-axis (Rx), the rotation actually happens around the Z-axis, and vice versa — a rotation around Z (Rz) behaves like a rotation around X.
    It seems like the rotation axes and the translation axes are not aligned or not using the same TCP.

    Has anyone experienced this kind of axis mismatch?

    Any help or insight would be greatly appreciated! 🙏

  • 95devils April 15, 2025 at 11:44 AM

    Approved the thread.
    • New

    How did you teach the tcp? What does the tool look like? A torch, parallel gripper, paint gun, etc.

    Did you enter the Rx, Ry, and Rz manually or have the controller figure it out?

    When describing the issue, are the directions you’re describing referenced to the robot frame or the tool frame?

    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

    • New

    Thanks for your quick response.

    The tool in question is a laser head for additive manufacturing. The Rx, Ry, and Rz values are set to 0, 0, and 180 degrees respectively, which makes sense given the orientation of the user frame TCP. The tool's TCP is rotated 180 degrees around the Z-axis relative to the user frame TCP.

    The issue occurs regardless of whether the reference is set to the robot TCP or the tool TCP.


    Let me know if you think this setup could be causing the issue or if you'd recommend checking something else.

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