FlexPendant Operators Manual 3HAC16590 ... - Technology

13 Descriptions of terms and concepts13.7. What is a coordinate system?ContinuedThe world coordinate systemThe base coordinate system has its zero point in the base of the robot, which makesmovements predictable for fixed mounted robots. It is therefore useful for jogging a robotfrom one position to another. For programming a robot, other coordinate systems, like thework object coordinate system are often better choices. See The work object coordinatesystem on page 307for more information.When you are standing in front of the robot and jog in the base coordinate system, in anormally configured robot system, pulling the joystick towards you will move the robot alongthe X axis, while moving the joystick to the sides will move the robot along the Y axis.Twisting the joystick will move the robot along the Z axis.en0300000496A Base coordinate system for robot 1B World coordinateC Base coordinate system for robot 2The world coordinate system has its zero point on a fixed position in the cell or station. Thismakes it useful for handling several robots or robots moved by external axes.By default the world coordinate system coincidences with the base coordinate system.306Continues on next page3HAC 16590-1 Revision: B