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STE 58760
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(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.