STE 58760
3.7SETTING COORDINATE SYSTEM
A coordinate system can be set according to the application of the robot.
When the robot is guided to an actual operation position and the position is taught to the robot, it is not necessary to set a coordinate system.
When a coordinate system is set unintentionally, the teaching operation of the position becomes complicated. Unless otherwise required, it is recommended to operate the robot in the initial state without setting a coordinate system.
A coordinate system should be set in the following cases.
①To manually guide the robot along a coordinate system other than the base coordinate system.
②To represent an operation position by means of a relative position of a workpiece when the same operation is conducted for two or more workpieces.
③To perform a linear interpolation/circular interpolation in accordance with the edge of the tool.
④When the installation position of the robot is changed, to use the position data which was used in a previous operation.
3.7.1Robot Coordinate Systems
The robot has five coordinate systems; world coordinate system, base coordinate system, work coordinate system, mechanical interface coordinate system, and tool coordinate system.
①World coordinate system (absolute coordinate system)
A coordinate system intrinsic to the operation place where the robot is installed. The world coordinate system can be set regardless of the robot. Generally, a coordinate system where the installation reference point of the robot is the zero point is selected (namely, the base coordinate system is selected).
②Base coordinate system (machine coordinate system)
A coordinate system intrinsic to the robot. This coordinate system is intrinsic to the structure of the robot. Generally, the installation reference point of the robot becomes the zero point.