Rainbow Robotics RB Series, User Manual

Page: 422 / 440

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL
© RAINBOW ROBOTICS Inc. All rights reserved.
422
APPENDIX F. COORDINATE SYSTEM

Global Coordinate (Base coordinate)
Once the robot is fixed with the coordinate system fixed to the base of the robot, the
global coordinate system is also fixed.
The center of the base surface is the origin. Set the robot direction to the + Z
direction from the origin and the connector direction to the + Y direction from the
origin.

Local Coordinate (Tool coordinate)
Coordinate system fixed to TCP (Tool Center Point) of the robot, the direction of the
axis changes in real time by setting or moving the TCP offset.
Set TCP as the origin and set the robot direction from the origin to the + Y direction
and the teach button direction from the origin to the + Z direction.