IAI RA Series, Instruction Manual

Page: 142 / 186

5. Practical Settings
134
5.3.8. Coordinate System
The coordinate system handled with the coordinate conversion commands are as shown below.
[1] Each Axis Coordinate System
It is the coordinate system expressed with coordinates of each axis that constructs a robot (C1, C2,
C3, R, B and T). For the reason of axes construction, C1, C2 and C3 should be the cartesian
coordinate system. The definitions of the coordinate home position and directions should be the
same as the coordinate definitions of each axis.
C1
C2
C3
0
各軸座標系
第1軸
第1軸
第2軸 第3軸
第3軸
第2軸
C1
C3
C2
0
各軸座標系
B軸原点
-105° +105°
第2軸（Yf）方向
(-) (+)
R軸＝0°の位置
B軸原
点
-105°
+105
°
(+)
(-)
第2軸（Zf）方向
R軸＝0°の位置
T軸 +方向 -方向
R軸
+方向 -方向
T軸
-方向
+方向
R軸
-方向
+方向
[0] Xf-Yf-(Zf-R)-(B-T) [1] Xf-Zf-(Yf-R)-(B-T)
+方向 -方向
+方向
-方向
[0] X-Y-Z-R-(B-T) [1] X-Z-Y-R-(B-T)
Coordinate
system
Base coordinate system
Work coordinate system
Mechanical interface coordinate system
Tool coordinate system
Each axis coordinate system
Cartesian
coordinate
system
3
rd
Axis
1
st
Axis
2
nd
Axis
3
rd
Axis
2
nd
Axis
1
st
Axis
Each Axis Coordinate System Each Axis Coordinate System
2
nd
Axis (Z) Direction
Position of R-Axis = 0deg
+ Direction
+ Direction
T-Axis
- Direction
- Direction
Ho
me
P
os
itio
n o
f B
-A
xis
- Direction
R-Axis
+ Direction
Position of R-Axis = 0deg
2
nd
Axis (Y) Direction
+ Direction
- Direction
- Direction T-Axis + Direction
+ Direction
- Direction
Home Position of B-Axis
R-Axis
ME0364-2B