IAI RA Series, Instruction Manual

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5. Practical Settings
136
[3] Base Coordinate System
It is the cartesian coordinate system defined against the surface that a robot is installed on (Xb, Yb,
Zb, Rxb, Ryb and Rzb). The coordinates in the base coordinate system are to express the position
and posture of the center of the tool attachment face (tool tip when tool coordinate system is
activated) of the T-axis (sixth axis). Also, the home position of the base coordinate system should be
the point (= Point P) where the R-axis (fourth axis) rotary axis and the B-axis (fifth axis) go across
when (C1, C2, C3) = (0, 0, 0) in the each axis coordinate system. (See figure below) The position in
the base coordinate system when located at the all axes home position in the each axis coordinate
system should be as shown in the table in the following page.
C1
C2
C3
0
Xb
Yb
Zb
0
ベース座標系
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
[0] Xf-Yf-(Zf-R)-(B-T) [1] Xf-Zf-(Yf-R)-(B-T)
Rxb
Rzb
Ryb
[0] X-Y-Z-R-(B-T) [1] X-Z-Y-R-(B-T)
Base 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
ME0364-2B