FlexPendant Operators Manual 3HAC16590 ... - Technology

13 Descriptions of terms and concepts13.7. What is a coordinate system?13.7. What is a coordinate system?OverviewA coordinate system defines a plane or space by axes from a fixed point called the origin.Robot targets and positions are located by measurements along the axes of coordinatesystems.A robot uses several coordinate systems, each suitable for specific types of jogging orprogramming.• The base coordinate system is located att the base of the root.It is the easiest one forjust moving the robot from one position to another. See The base coordinate system onpage 305for more information.• The work object coordinate system is related to the work piece and is often the bestone for programming the robot. See The work object coordinate system on page307for more information.• The tool coordinate system defines the position of the tool the robot uses whenreaching the programmed targets. See The tool coordinate system on page 309formore information.• The world coordinate systemthat defines the robot cell, all other coordiante systemsare realted to the the world coordinate system, either directly or indirectly. it is usefulfor jogging, genral movements and for handling stations and cells with several robotsor robots moved by external axes. See The world coordinate system on page 306formore information.• The user coordinate system is useful for representing equipment that holds othercoordinate systems, like work objects. See The user coordinate system on page 310for more information.The base coordinate systemxx03000004953HAC 16590-1 Revision: BContinues on next page305