IAI R-unit RSEL, Инструкция по эксплуатации, Страница: 447 / 844

Chapter 7 6-axis Cartesian Robot
7.1 Guideline of Coordinate Systems
7-7
ME0392-4C
(1) Base Coordinate System
The base coordinate systems for each type of the 6-axis cartesian robot are as shown below.
The origin of the base coordinates should be the position of Point P (crossing point of B-axis
rotary axis and T-axis rotary axis) when (C1, C2, C3) = (0, 0, 0) in each axis coordinate.
•
CRS- XB□
(XY Base Fixed)
•
CRS- XG□
(XY Base Fixed + Gantry)
•
CRS- XZ□Y
(XY Base Fixed + Horizontal Approach)
•
CRS- XZ□Z
(XY Base Fixed + Vertical Approach)
* Arrows show positive sides
Xb
Zb
O
Yb
Xb
Yb
Zb
O
Xb
Zb
O
Yb
Xb
Zb
O
Yb
7.1 Guideline of Coordinate Systems
ME0392-4C
7-8
Position of Point P
(2) Work Coordinate System
The work coordinate system is a three-dimensional coordinate system defined in each area of
workspace for a workpiece. The origin can be defined at any position. The work coordinate
system is to be defined with the coordinate origin offset (X, Y, Z) from the base coordinates
and the rotary angles (Rx, Ry, Rz) around the X-, Y- and Z-axes on the base coordinates.
The work coordinate system equals to the base coordinate system when it is not defined.
Point P
B-axis (Bending)
T-axis (Turning)