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STE 58769
– 13 –
1.2 Coordinate System of the Robot
Coordinate systems include the world, base, tool and workpiece coordinate systems.
In the initial state, the world and workpiece coordinate systems match the base
coordinate system, and the tool coordinate system is a coordinate system whose
origin is a hand mounting flange. The world coordinate system, workpiece
coordinate system and the tool coordinate systems are set in accordance with work
and used. When coordinate systems are set, the robot is guided along the set
coordinate system and can be operated with the same position data to different tools.
There is no need for setting coordinate systems when the robot is guided to positions
where it actually operates and taught the positions. Setting coordinate systems
unnecessarily complicates position teaching operations. If there is no trouble, the
robot should be used at the initial condition without setting coordinate systems.
a) World coordinate system (absolute coordinate system)
Only one coordinate system for the whole of an work area where a robot is installed.
Generally, it is matched to the base coordinate system whose origin is the
cardinal point of installation of the robot.
b) Base coordinate system (machine coordinate system)
The coordinate system based on the center of the robot. Based on the origin posture
where each joint axis is zero. The base coordinate system is the natural
coordinate system determined from the structure of the robot.
c) Workpiece coordinate system (work coordinate system)
The coordinate system to be set for workpieces the robot work on and pallets. Different
workpiece coordinate systems are set for different workpieces.
d) Tool coordinate system
The coordinate system based on the hand mounting frange of the robot.
Depending on hands mounted on the robot, a tool coordinate system can be set
in a manner of matching it to the work point of the robot. The coordinate system
also moves with the operation of the robot.
Positions of the robot are expressed by X, Y, Z, C and T.
X, Y, Z: X, Y, Z coordinate values in an orthogonal coordinate system (in mm)
C: Rotation of the head of the tool (in degrees)
T: Rotation or direct advance of the 5th axis (in degrees or mm)