Programming manual for Meca500 (for firmware 9.2.x)
1
BASIC THEORy ANd dEfINITIONS
1. BASIC THEORy ANd dEfINITIONS
We are dedicated to technical accuracy, detail, and consistency, and use terminology that is not always
standard. It is therefore important to read this section very carefully, even if you have prior experience
with robot arms.
1.1. definitions and conventions
1.1.1 Units
Distances that are displaced to or defined by the user are in millimeters (mm), angles are in degrees (°)
and time is in seconds (s), except for timestamps.
1.1.2 Joint numbering
The joints of the Meca500 are numbered in ascending order, starting from the base, as shown in
.
1
2
3
4
5
6
(a
) robot with all joints numbered and at zero degrees
(b
) robot's flange with joint 6 at zero degrees
Figure 1:
Robot's joint numbering and zero-degree joint positions
1.1.3 Reference frames
We use right-handed Cartesian coordinate systems (
reference frames
). These reference frames (according
to the original Denavit and Hartenberg convention) are shown in
x
axes are red,
y
axes are
green, and
z
axes are blue), but you only need to be familiar with four of them. These four reference
frames and the key term related to them are:
Summary of Contents for Meca500 R3
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