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

    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.

    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.

    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.

    • New

    Do your rotation values on the tool file on the programming pendent show up as A B C instead of Rx Ry Rz?

    If so you may have the Display Euler Angles option activated for that robot. This will change the rotation order. This is part of the multi-layer welding package.

    If you don't need it, email yaskawa with a copy of your CMOS and have them disable the option and you'll be back to normal.

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