1. Earth coordinate system.
The Earth (world) coordinate system is a standard Cartesian coordinate system fixed in space, fixed at a predetermined position. Sets the user's coordinate system based on the coordinate system. The earth coordinate system is also called Cartesian coordinates, and the corresponding Cartesian coordinate direction is different for each robot, and the corresponding Cartesian coordinate origin position is also different. After the relevant parameters of the robot are set, the zero point and direction of the Cartesian coordinates are determined, and the Cartesian coordinates cannot be modified without modifying the parameters. No matter what position the robot is in, it can move in parallel along the set X-axis, Y-axis, and Z-axis; For six-axis robots, A, B, and C rotations can also be performed, with the A axis rotating around the X axis, the B axis rotating around the Y axis, and the C axis rotating around the Z axis, following the right-hand spiral rule.
2. Base coordinate system.
The base coordinate system consists of the base point and coordinate position of the robot base, which is the basis of other coordinate systems of the robot.
3. Joint coordinate system.
The joint coordinate system is the coordinate system set in the robot joints and is the absolute angle of each axis relative to its origin position.
4. Tool coordinate system.
The tool coordinate system takes the effective direction of the tool held by the robot wrist flange as the Z-axis, and defines the coordinates at the tip point of the tool. The coordinates of the No. 0 tool are the coordinates of the basic tool, which cannot be set or modified, and the coordinates are the same as the Cartesian coordinates. The tool coordinates 1-49 can be set by the user according to the actual tool situation.
The tool coordinate system is used to determine the position of the tool and consists of the tool center point (TCP) and the coordinate position. The tool coordinate system must be set in advance. The default tool coordinate system supersedes the coordinate system if it is not defined.
The coordinate system of the tool can be determined by the N (N>=4) point method: the robot TCP can obtain multiple sets of solutions by contacting the specified point in N different postures, and the corresponding position of the current TCP and the center point of the tool installation flange (tol0) is obtained by calculation, and the direction of the coordinate system is consistent with tool0.
5. Workpiece coordinate system.
The workpiece coordinate system is used to determine the position of the workpiece and consists of the workpiece origin and coordinate position. The coordinate system of the workpiece can be determined by three methods: the point X1 is connected with the point X2 to form the X axis, the vertical line of the point Y1 to the X axis is the Y axis, and the Z axis direction is determined by the right-hand rule.
6. User coordinate system.
The user coordinate system is a Cartesian coordinate system customized by the user for each workspace, which is used for the teaching and execution of position registers, the execution of position compensation instructions, and so on. The geodetic coordinate system replaces the coordinate system if it is not defined.
Advantages of the user coordinate system: when the robot runs the same trajectory and the workpiece position is different, only the user coordinate system needs to be updated without reprogramming.
The robot moves in parallel along the axes of the specified user coordinate system. In coordinate systems other than the joint coordinate system, you can only change the pose of the tool without changing the position of the tool tip point (control point), which is called the control point invariant action. The No. 0 user coordinate system is the base user coordinate system, which cannot be set or modified, and the coordinate system is the same as the Cartesian coordinate system. User coordinates 1-49 can be set by the user as needed.
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