IAI America XSEL-QX - Manual (Page 366)

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Part 4 Commands
(1) Setting the tool coordinate system
Set the offsets from the center of the tool-mounting surface to the tool tip.
x Setting example of tool coordinate system
When defining tool coordinate system No. 1 as shown below:
The offsets of tool coordinate system No. 1 are set as Xoft1 = 45, Yoft1 = 35, Zoft1 = -10 and Roft1
= 45.
The figure below shows the edit screen for tool coordinate system definition data on the PC
software for horizontal articulated robot, where tool coordinate system No. 1 is set:
* Use a DFTL command to set tool coordinate system offsets in a SEL program.
35
0
45 q
45
10