IAI R-unit RSEL, Instruction Manual, Page: 446 / 844

Chapter 7 6-axis Cartesian Robot
7.1 Guideline of Coordinate Systems
7-7
ME0392-4C
(1) Base Coordinate System
The base coordinate systems for each type of the 6-axis cartesian robot are as shown below.
The origin of the base coordinates should be the position of Point P (crossing point of B-axis
rotary axis and T-axis rotary axis) when (C1, C2, C3) = (0, 0, 0) in each axis coordinate.
•
CRS- XB□
(XY Base Fixed)
•
CRS- XG□
(XY Base Fixed + Gantry)
•
CRS- XZ□Y
(XY Base Fixed + Horizontal Approach)
•
CRS- XZ□Z
(XY Base Fixed + Vertical Approach)
* Arrows show positive sides
Xb
Zb
O
Yb
Xb
Yb
Zb
O
Xb
Zb
O
Yb
Xb
Zb
O
Yb