Design and planning
System Description Service Robotics Modules
1004870-EN-05
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Robot
Robot coordinate system
The origin of the robot coordinate system (0, 0, 0) is at the bottom
centre on the robot base. The robot coordinate system is right-ori-
ented, which gives the resulting directions of the axes.
X-axis
The X-axis points positively in the direction of the
connections on the robot base.
Y-axis
Looking from the origin of the robot coordinate
system along the X-axis, the Y-axis points posit-
ively to the left.
Z-axis
The Z-axis points positively in the direction of joint
1.
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Flange
The flange coordinate system is situated on the contact surface of the
mechanical flange interface, below the centring collar. The origin of
the flange coordinate system is at the centre of this level. The flange
coordinate system is right-oriented, which gives the resulting direc-
tions of the axes.
If all the axes of the robot arm are in zero position, then the orienta-
tion of the flange coordinate system is identical to that of the robot co-
ordinate system.
Further information on the zero position of the axes can be found in the operating manual
for the robot arm PRBT 6, under "Zero position of the axes".
5.3
Tool centre point (TCP)
The position of the tool centre point (TCP) depends on whether or not an end-effector is in-
stalled on the robot arm.
End-effector is not installed
If there is no end-effector installed on the robot arm, then the TCP of the robot arm corres-
ponds to the origin of the flange coordinate system.
End-effector is installed
If there is an end-effector installed on the robot arm, then the TCP moves from the origin of
the flange coordinate system to the origin of the user-configured end-effector coordinate
system. This is called TCP transformation.
Further information is available under
.
