DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL
3.4 Coordinate
System
The robot's joint angle origin (0° or 0 mm position) is factory-calibrated according to the
base reference planes. Fig. 3.1 and Fig. 3.2 show the base coordinate system (XB,
YB, ZB) and origin of each axis joint angle.
ZB
Origin of base
coordinate system
when Z-axis stroke
is 170 mm
(+)
(+)
(+)
(+)
(–)
(–)
(–)
(
–
)
Axis 1
Axis 2
Axis 3
Axis 4
XB
YB
Reference
surface
Reference
surface
Origin of base
coordinate system
when Z-axis stroke
is 340 mm
Fig. 3.1 Base coordinate system and joint angle origin (TH850A)
STE 80765
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