ID : 10992

World Coordinate System

Descriptions

The world coordinate system is a coordinate system based on the origin that you can specify.
By designating the origin of the world coordinate system as the origin of the facility coordinate system, you can specify the robot position on the facility coordinate system.

Normal	Robot positions are specified on the coordinate system based on the robot base as its origin. Areas and workpieces are all specified based on the robot base.
World Coordinate System	Robot positions are specified on the coordinate system based on the origin that you can specify. Areas and workpieces are specified based on the world coordinate system. However, only the position of a tool is specified based on the robot base.

Setting Procedures

You can specify the world coordinate system by the following three methods.

WINCAPSIII
Smart TP
Command

Specify the Base Coordinate Using WINCAPSIII

On the [Base] window of WINCAPSIII, you can specify the base coordinate on the world coordinate system.

Specify the Base Coordinate Using the Smart TP

On the smart TP, you can specify the base coordinate by either entering immediate values of the base coordinate or using Easy Edit.
For details, refer to "Display and Adjust the Base Setting" of Smart TP Operation Guide.

Enter immediate values	Specify immediate values of (X, Y, Z, Rx ,Ry, Rz).
Easy Edit	Teach the following three points relative to the reference point so that the base coordinate will be calculated automatically. Origin of the coordinate system X-axis direction A given point on the x-y plane

Enter immediate values

Specify immediate values of (X, Y, Z, Rx ,Ry, Rz).

Easy Edit

Teach the following three points relative to the reference point so that the base coordinate will be calculated automatically.

Origin of the coordinate system
X-axis direction
A given point on the x-y plane

Specify the Base Coordinate Using a Command

Use the Base command.

ID : 10992

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