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3.7 SETTING 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.
①
To manually guide the robot along a coordinate system other than the base coordinate
system.
②
To represent an operation position by means of a relative position of a workpiece when the
same operation is conducted for two or more workpieces.
③
To perform a linear interpolation/circular interpolation in accordance with the edge of the
tool.
④
When the installation position of the robot is changed, to use the position data which was
used in a previous operation.
3.7.1 Robot 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.
①
World 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).
②
Base 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.