Installation manual

Chapter 2. ARM DESIGNATION AND MOTION
２－4
２．２ COORDINATE SYSTEMS
In manipulator control, to indicate the current position/orientation and the target
position/
orientation, the standard coordinate system is needed. Inputting the deviation
of
position and orientation (rotation angle on the standard axis) for coordinates they can be
controlled.
The coordinate systems used in the motion controller are as follows:
・Base Coordinates ･･The manipulator origin is the basic standard.
Its standard is for all coordinate systems and will never change.
・Mechanical Interface Coordinates ･･The coordinate system is altered by changes of
each axis angle in the manipulator tip coordinate (included tool +
offset.)
(Tip coordinate system)
This illustration is the 7-axis arm composition. For the 6-axis arm, there is no S3-axis.
Later on, this kind of coordinate system will be needed if combining with motion
mechanism or attaching sensors.
（＊）In “PA,” the tool coordinates (included offset) are
regarded as the mechanical interface coordinates.
For the coordinate systems not existing in
the motion control section, following the application,
make coordinate-calculations inside the operation control section.
TOOL
z
y
x
W2
W1
E2
E1
S3
Z
X
Y
S2
S1
Base
Coordinates
World
Coordinates
Motion Mechanism
Coordinates
Mech. Interface
Coordinates
Tool
Coordinates
Sensor
Coordinates
Operation
Coordinates
（＊）
Mechanical Interface
Coordinates
Operation
Area
Base
Coordinates
Remark
M
M
e
e
m
m
o
o