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STE 58760
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3-39
③
Work coordinate system (operation coordinate system)
A coordinate system intrinsic to work for which the robot is operated. The zero point of the
work coordinate system is set at the reference point of the work. It is also determined by the
operation of the robot.
④
Mechanical interface coordinate system
A coordinate system in which the position of an end effector of the robot is set to the zero point.
As the robot is moved, this coordinate system is accordingly moved.
⑤
Tool coordinate system
A coordinate system where the end of an end effector of the robot is set to the zero point.
As the robot is moved, this coordinate system is accordingly moved.
The base coordinate system and the work coordinate system are set in accordance with the
world coordinate system.
The tool coordinate system is set in accordance with the mechanical interface coordinate
system.
(The base coordinate system and the mechanical interface coordinate system are determined
only depending on the mechanism of the robot. The world coordinate system is relatively
determined by setting the base coordinate system.)
In the initial state where the coordinate system has not been set, the world coordinate system
and the work coordinate system accord with the base coordinate system, while the tool
coordinate system accords with the mechanical interface coordinate system.