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1.4 COORDINATE SYSTEM
A coordinate system comes in a world coordinate system, base coordinate system and tool
coordinate system. Once the coordinate system is established, positions where the robot has to
move can be set by coordinate values.
A function which offsets the coordinate system is also provided, and even if the robot position or tool
has been changed, the entire program need not be modified accordingly.
In addition to the above, a work coordinate system is also available, which is useful to create
position data for palletizing operation.
Positional relationship of respective coordinate systems is shown in Fig. 1.3.
Fig. 1.3