STE 58760
(1)World coordinate system
A coordinate system the user defines in a space at arranging equipment or workpieces is called the "world coordinate system."
(2)Base coordinate system
A Cartesian coordinate system based on the robot center is called the "base coordinate system." Normally, each axis is set based on the origin (0°) orientation.
The base coordinate system can be offset by entering a deviation of each axis of the world coordinate system. Thus, each time the coordinate system is changed, operation points need not be taught to the robot.
(3)Tool coordinate system
A Cartesian coordinate system based on the tool set surface (i.e., flange surface) of the robot end effector is called the "tool coordinate system."
Like the base coordinate system, the tool coordinate system can also be offset so that the robot can move on the basis of the tool edge. Thus, the operator can teach the robot based on the tool edge.
(4)Work coordinate system
A coordinate system defined in an actual working space, such as workpiece layout and pallet, is called the "work coordinate system. Thus, data can be created easily at palletizing or offline teaching.
