Position Data Handled by 6-Axis Robots

Position data refers to a set of data which includes RX, RY and five components of base coordinates (the work coordinates system if an work coordinates system is defined). Of these five components, three are robot flange center coordinates (the end-effector tip coordinates if an end-effector is defined) and two are current robot attitude components, as shown below.

Position data allows you to represent the current position of the robot flange center and object points.

Components of Position Data

A set of X, Y, and Z coordinate values represents the position of the robot flange center (or tip of the end-effector if defined) expressed in base coordinates (the work coordinates system if an work coordinates system is defined) in units of mm.

The yaw angles, pitch angles, and roll angles, which are expressed by RX, RY, and RZ, refer to rotation angles around the respective axes of the base coordinate system (the work coordinates system if an work coordinates system is defined) defined by the mechanical interface coordinate system whose origin is at the center of the flange surface. These angles are expressed in units of degree.

With respect to the positive (+) direction on axes of the base coordinates, clockwise rotation is treated as positive (+).

You should always preserve the rotation order of RZ, RY, and RX. Changing it will cause the robot to take a different attitude in spite of the same rotation angle defined.

Figure represented by the FIG value refers to a figure of robot arm joints. You can not only select a given value, but use the Automatic figure selection function. By using this function, a robot controller automatically selects an appropriate value. For details, refer to "Automatic Figure Selection Function (Auto Fig)".

Figures of the Shoulder, Elbow, and Wrist in 6-Axis Robots

A 6-axis robot can take different figures for its shoulder, elbow, wrist, 6th axis, and 4th axis, and 1st axis for a single point and attitude (X, Y, Z, RX, RY, and RZ) at the end of the end-effector.

Items given on the following pages show how the robot can take different figures for its shoulder, elbow, wrist, 6th axis, 4th axis, and 1st axis respectively.

Combining these different figures allows the robot to take different figures for its single position and attitude.
The table below shows available figures.

For some robot types, TRIPLE in the 4th-axis and the 6th-axis, and DOUBLE in the 1st-axis are not available.

Available Figures

Value	Shoulder Figure	Elbow Figure	Wrist Figure	6th-Axis Figure	4th-Axis Figure	1st-Axis Figure
0	RIGHTY	ABOVE	FLIP	SINGLE	SINGLE	SINGLE
1	LEFTY	ABOVE	FLIP	SINGLE	SINGLE	SINGLE
2	RIGHTY	BELOW	FLIP	SINGLE	SINGLE	SINGLE
3	LEFTY	BELOW	FLIP	SINGLE	SINGLE	SINGLE
4	RIGHTY	ABOVE	NONFLIP	SINGLE	SINGLE	SINGLE
5	LEFTY	ABOVE	NONFLIP	SINGLE	SINGLE	SINGLE
6	RIGHTY	BELOW	NONFLIP	SINGLE	SINGLE	SINGLE
7	LEFTY	BELOW	NONFLIP	SINGLE	SINGLE	SINGLE
8	RIGHTY	ABOVE	FLIP	DOUBLE	SINGLE	SINGLE
9	LEFTY	ABOVE	FLIP	DOUBLE	SINGLE	SINGLE
10	RIGHTY	BELOW	FLIP	DOUBLE	SINGLE	SINGLE
11	LEFTY	BELOW	FLIP	DOUBLE	SINGLE	SINGLE
12	RIGHTY	ABOVE	NONFLIP	DOUBLE	SINGLE	SINGLE
13	LEFTY	ABOVE	NONFLIP	DOUBLE	SINGLE	SINGLE
14	RIGHTY	BELOW	NONFLIP	DOUBLE	SINGLE	SINGLE
15	LEFTY	BELOW	NONFLIP	DOUBLE	SINGLE	SINGLE
16	RIGHTY	ABOVE	FLIP	SINGLE	DOUBLE	SINGLE
17	LEFTY	ABOVE	FLIP	SINGLE	DOUBLE	SINGLE
18	RIGHTY	BELOW	FLIP	SINGLE	DOUBLE	SINGLE
19	LEFTY	BELOW	FLIP	SINGLE	DOUBLE	SINGLE
20	RIGHTY	ABOVE	NONFLIP	SINGLE	DOUBLE	SINGLE
21	LEFTY	ABOVE	NONFLIP	SINGLE	DOUBLE	SINGLE
22	RIGHTY	BELOW	NONFLIP	SINGLE	DOUBLE	SINGLE
23	LEFTY	BELOW	NONFLIP	SINGLE	DOUBLE	SINGLE
24	RIGHTY	ABOVE	FLIP	DOUBLE	DOUBLE	SINGLE
25	LEFTY	ABOVE	FLIP	DOUBLE	DOUBLE	SINGLE
26	RIGHTY	BELOW	FLIP	DOUBLE	DOUBLE	SINGLE
27	LEFTY	BELOW	FLIP	DOUBLE	DOUBLE	SINGLE
28	RIGHTY	ABOVE	NONFLIP	DOUBLE	DOUBLE	SINGLE
29	LEFTY	ABOVE	NONFLIP	DOUBLE	DOUBLE	SINGLE
30	RIGHTY	BELOW	NONFLIP	DOUBLE	DOUBLE	SINGLE
31	LEFTY	BELOW	NONFLIP	DOUBLE	DOUBLE	SINGLE
32	RIGHTY	ABOVE	FLIP	SINGLE	TRIPLE	SINGLE
33	LEFTY	ABOVE	FLIP	SINGLE	TRIPLE	SINGLE
34	RIGHTY	BELOW	FLIP	SINGLE	TRIPLE	SINGLE
35	LEFTY	BELOW	FLIP	SINGLE	TRIPLE	SINGLE
36	RIGHTY	ABOVE	NONFLIP	SINGLE	TRIPLE	SINGLE
37	LEFTY	ABOVE	NONFLIP	SINGLE	TRIPLE	SINGLE
38	RIGHTY	BELOW	NONFLIP	SINGLE	TRIPLE	SINGLE
39	LEFTY	BELOW	NONFLIP	SINGLE	TRIPLE	SINGLE
40	RIGHTY	ABOVE	FLIP	DOUBLE	TRIPLE	SINGLE
41	LEFTY	ABOVE	FLIP	DOUBLE	TRIPLE	SINGLE
42	RIGHTY	BELOW	FLIP	DOUBLE	TRIPLE	SINGLE
43	LEFTY	BELOW	FLIP	DOUBLE	TRIPLE	SINGLE
44	RIGHTY	ABOVE	NONFLIP	DOUBLE	TRIPLE	SINGLE
45	LEFTY	ABOVE	NONFLIP	DOUBLE	TRIPLE	SINGLE
46	RIGHTY	BELOW	NONFLIP	DOUBLE	TRIPLE	SINGLE
47	LEFTY	BELOW	NONFLIP	DOUBLE	TRIPLE	SINGLE
64	RIGHTY	ABOVE	FLIP	SINGLE	SINGLE	DOUBLE
65	LEFTY	ABOVE	FLIP	SINGLE	SINGLE	DOUBLE
66	RIGHTY	BELOW	FLIP	SINGLE	SINGLE	DOUBLE
67	LEFTY	BELOW	FLIP	SINGLE	SINGLE	DOUBLE
68	RIGHTY	ABOVE	NONFLIP	SINGLE	SINGLE	DOUBLE
69	LEFTY	ABOVE	NONFLIP	SINGLE	SINGLE	DOUBLE
70	RIGHTY	BELOW	NONFLIP	SINGLE	SINGLE	DOUBLE
71	LEFTY	BELOW	NONFLIP	SINGLE	SINGLE	DOUBLE
72	RIGHTY	ABOVE	FLIP	DOUBLE	SINGLE	DOUBLE
73	LEFTY	ABOVE	FLIP	DOUBLE	SINGLE	DOUBLE
74	RIGHTY	BELOW	FLIP	DOUBLE	SINGLE	DOUBLE
75	LEFTY	BELOW	FLIP	DOUBLE	SINGLE	DOUBLE
76	RIGHTY	ABOVE	NONFLIP	DOUBLE	SINGLE	DOUBLE
77	LEFTY	ABOVE	NONFLIP	DOUBLE	SINGLE	DOUBLE
78	RIGHTY	BELOW	NONFLIP	DOUBLE	SINGLE	DOUBLE
79	LEFTY	BELOW	NONFLIP	DOUBLE	SINGLE	DOUBLE
80	RIGHTY	ABOVE	FLIP	SINGLE	DOUBLE	DOUBLE
81	LEFTY	ABOVE	FLIP	SINGLE	DOUBLE	DOUBLE
82	RIGHTY	BELOW	FLIP	SINGLE	DOUBLE	DOUBLE
83	LEFTY	BELOW	FLIP	SINGLE	DOUBLE	DOUBLE
84	RIGHTY	ABOVE	NONFLIP	SINGLE	DOUBLE	DOUBLE
85	LEFTY	ABOVE	NONFLIP	SINGLE	DOUBLE	DOUBLE
86	RIGHTY	BELOW	NONFLIP	SINGLE	DOUBLE	DOUBLE
87	LEFTY	BELOW	NONFLIP	SINGLE	DOUBLE	DOUBLE
88	RIGHTY	ABOVE	FLIP	DOUBLE	DOUBLE	DOUBLE
89	LEFTY	ABOVE	FLIP	DOUBLE	DOUBLE	DOUBLE
90	RIGHTY	BELOW	FLIP	DOUBLE	DOUBLE	DOUBLE
91	LEFTY	BELOW	FLIP	DOUBLE	DOUBLE	DOUBLE
92	RIGHTY	ABOVE	NONFLIP	DOUBLE	DOUBLE	DOUBLE
93	LEFTY	ABOVE	NONFLIP	DOUBLE	DOUBLE	DOUBLE
94	RIGHTY	BELOW	NONFLIP	DOUBLE	DOUBLE	DOUBLE
95	LEFTY	BELOW	NONFLIP	DOUBLE	DOUBLE	DOUBLE
96	RIGHTY	ABOVE	FLIP	SINGLE	TRIPLE	DOUBLE
97	LEFTY	ABOVE	FLIP	SINGLE	TRIPLE	DOUBLE
98	RIGHTY	BELOW	FLIP	SINGLE	TRIPLE	DOUBLE
99	LEFTY	BELOW	FLIP	SINGLE	TRIPLE	DOUBLE
100	RIGHTY	ABOVE	NONFLIP	SINGLE	TRIPLE	DOUBLE
101	LEFTY	ABOVE	NONFLIP	SINGLE	TRIPLE	DOUBLE
102	RIGHTY	BELOW	NONFLIP	SINGLE	TRIPLE	DOUBLE
103	LEFTY	BELOW	NONFLIP	SINGLE	TRIPLE	DOUBLE
104	RIGHTY	ABOVE	FLIP	DOUBLE	TRIPLE	DOUBLE
105	LEFTY	ABOVE	FLIP	DOUBLE	TRIPLE	DOUBLE
106	RIGHTY	BELOW	FLIP	DOUBLE	TRIPLE	DOUBLE
107	LEFTY	BELOW	FLIP	DOUBLE	TRIPLE	DOUBLE
108	RIGHTY	ABOVE	NONFLIP	DOUBLE	TRIPLE	DOUBLE
109	LEFTY	ABOVE	NONFLIP	DOUBLE	TRIPLE	DOUBLE
110	RIGHTY	BELOW	NONFLIP	DOUBLE	TRIPLE	DOUBLE
111	LEFTY	BELOW	NONFLIP	DOUBLE	TRIPLE	DOUBLE
128	RIGHTY	ABOVE	FLIP	TRIPLE	SINGLE	SINGLE
129	LEFTY	ABOVE	FLIP	TRIPLE	SINGLE	SINGLE
130	RIGHTY	BELOW	FLIP	TRIPLE	SINGLE	SINGLE
131	LEFTY	BELOW	FLIP	TRIPLE	SINGLE	SINGLE
132	RIGHTY	ABOVE	NONFLIP	TRIPLE	SINGLE	SINGLE
133	LEFTY	ABOVE	NONFLIP	TRIPLE	SINGLE	SINGLE
134	RIGHTY	BELOW	NONFLIP	TRIPLE	SINGLE	SINGLE
135	LEFTY	BELOW	NONFLIP	TRIPLE	SINGLE	SINGLE
144	RIGHTY	ABOVE	FLIP	TRIPLE	DOUBLE	SINGLE
145	LEFTY	ABOVE	FLIP	TRIPLE	DOUBLE	SINGLE
146	RIGHTY	BELOW	FLIP	TRIPLE	DOUBLE	SINGLE
147	LEFTY	BELOW	FLIP	TRIPLE	DOUBLE	SINGLE
148	RIGHTY	ABOVE	NONFLIP	TRIPLE	DOUBLE	SINGLE
149	LEFTY	ABOVE	NONFLIP	TRIPLE	DOUBLE	SINGLE
150	RIGHTY	BELOW	NONFLIP	TRIPLE	DOUBLE	SINGLE
151	LEFTY	BELOW	NONFLIP	TRIPLE	DOUBLE	SINGLE
160	RIGHTY	ABOVE	FLIP	TRIPLE	TRIPLE	SINGLE
161	LEFTY	ABOVE	FLIP	TRIPLE	TRIPLE	SINGLE
162	RIGHTY	BELOW	FLIP	TRIPLE	TRIPLE	SINGLE
163	LEFTY	BELOW	FLIP	TRIPLE	TRIPLE	SINGLE
164	RIGHTY	ABOVE	NONFLIP	TRIPLE	TRIPLE	SINGLE
165	LEFTY	ABOVE	NONFLIP	TRIPLE	TRIPLE	SINGLE
166	RIGHTY	BELOW	NONFLIP	TRIPLE	TRIPLE	SINGLE
167	LEFTY	BELOW	NONFLIP	TRIPLE	TRIPLE	SINGLE
192	RIGHTY	ABOVE	FLIP	TRIPLE	SINGLE	DOUBLE
193	LEFTY	ABOVE	FLIP	TRIPLE	SINGLE	DOUBLE
194	RIGHTY	BELOW	FLIP	TRIPLE	SINGLE	DOUBLE
195	LEFTY	BELOW	FLIP	TRIPLE	SINGLE	DOUBLE
196	RIGHTY	ABOVE	NONFLIP	TRIPLE	SINGLE	DOUBLE
197	LEFTY	ABOVE	NONFLIP	TRIPLE	SINGLE	DOUBLE
198	RIGHTY	BELOW	NONFLIP	TRIPLE	SINGLE	DOUBLE
199	LEFTY	BELOW	NONFLIP	TRIPLE	SINGLE	DOUBLE
208	RIGHTY	ABOVE	FLIP	TRIPLE	DOUBLE	DOUBLE
209	LEFTY	ABOVE	FLIP	TRIPLE	DOUBLE	DOUBLE
210	RIGHTY	BELOW	FLIP	TRIPLE	DOUBLE	DOUBLE
211	LEFTY	BELOW	FLIP	TRIPLE	DOUBLE	DOUBLE
212	RIGHTY	ABOVE	NONFLIP	TRIPLE	DOUBLE	DOUBLE
213	LEFTY	ABOVE	NONFLIP	TRIPLE	DOUBLE	DOUBLE
214	RIGHTY	BELOW	NONFLIP	TRIPLE	DOUBLE	DOUBLE
215	LEFTY	BELOW	NONFLIP	TRIPLE	DOUBLE	DOUBLE
224	RIGHTY	ABOVE	FLIP	TRIPLE	TRIPLE	DOUBLE
225	LEFTY	ABOVE	FLIP	TRIPLE	TRIPLE	DOUBLE
226	RIGHTY	BELOW	FLIP	TRIPLE	TRIPLE	DOUBLE
227	LEFTY	BELOW	FLIP	TRIPLE	TRIPLE	DOUBLE
228	RIGHTY	ABOVE	NONFLIP	TRIPLE	TRIPLE	DOUBLE
229	LEFTY	ABOVE	NONFLIP	TRIPLE	TRIPLE	DOUBLE
230	RIGHTY	BELOW	NONFLIP	TRIPLE	TRIPLE	DOUBLE
231	LEFTY	BELOW	NONFLIP	TRIPLE	TRIPLE	DOUBLE

Shoulder Figure

A shoulder figure is defined by a set of the values of the 1st-, 2nd-, and 3rd-axis components.

The robot can take two different shoulder figures--Left-handed (LEFTY) and Right-handed (RIGHTY).

LEFTY	RIGHTY

Boudary between LEFTY and RIGHTY

The rotary axis of the 1st axis is defined as the boundary between LEFTY and RIGHTY.

When viewed from the normal line on the side of the arm link, if point Pw exists in the left-hand side of the rotary axis of the 1st axis, the figure is LEFTY; if point Pw exists in the right-hand side, it is RIGHTY. In the figure shown below, the boundary is drawn with alternate long and short dash lines.

Elbow Figure

The centerline of the arm link (connecting the shoulder with elbow) is defined as the boundary between ABOVE and BELOW.
If point Pw exists in the + side of the centerline, the figure is ABOVE; if point Pw exists in the -side, it is BELOW. In the figures shown below, the boundary is drawn with alternate long and short dash lines.

Boundary between ABOVE and BELOW for LEFTY

Boundary between ABOVE and BELOW for RIGHTY

Wrist Figure

The rotary axis of the 4th axis is defined as the boundary between FLIP and NONFLIP.

If the normal line on the flange surface tilts up the rotary axis of the 4th axis, the figure is FLIP; if it tilts down the rotary axis, it is NONFLIP. In the figures shown below, the boundary is drawn with alternate long and short dash lines.

Boundary between FLIP and NONFLIP for LEFTY

Boundary between FLIP and NONFLIP for RIGHTY

4th-axis Figure

The 4th-axis figure is defined by the value of the 4th-axis component.
This section uses VM robots as an example.

The robot can take two different 4th-axis figures--SINGLE 4and DOUBLE 4. If the 4th axis rotates by -180°<θ4≤180° in mechanical interface coordinates, the figure is SINGLE 4; if it rotates by 180°<θ4≤185° or -185°<θ4≤-180°, the figure is DOUBLE 4.

The robot takes quite different figures when θ4 is 180° or 181°. Take special care when changing any position data for the 4th-axis figure. For example, supposing that you want to change the 4th-axis figure at θ4=181°, the robot will take the 4th-axis figure at θ4=-179° if you make no figure modification.

6th-axis Figure

A 6th-axis figure is defined by the value of the 6th-axis component.

The robot can take two different 6th-axis figures--SINGLE and DOUBLE.

If the 6th axis rotates by -180°<θ6≤180° in mechanical interface coordinates, the figure is SINGLE; if it rotates by 180°<θ6≤360°, the figure is DOUBLE.

The robot takes quite different figures when θ6 is 180° or 181°. Take special care when changing any position data for the 6th-axis figure. For example, supposing that you want to change the 6th-axis figure at θ6=181°, the robot will take the 6th-axis figure at θ6=-179° if you make no figure modification.