User`s guide

Adept Robot Cartesian Space
Transformations
The first three components of a transformation variable are the values for the points on the
X, Y, and Z axes. In an Adept SCARA robot, the origin of this Cartesian space is the base of
the robot. The Z axis points straight up through the middle of the robot column. The X axis
points straight out, and the Y axis runs left to right as you face the robot. The first robot in
the figure Adept Robot Cartesian Space shows the orientation of the Cartesian space for an
Adept SCARA robot. The location of the world coordinate system for other robots and motion
devices depends on the kinematic model of the motion device. For example, the second robot
in the figure Adept Robot Cartesian Space shows the world coordinate frame for a robot built
on the Cartesian coordinate model. See the kinematic device module documents for your
particular motion device.
When a transformation is defined, a local reference frame is created at the X, Y, Z location
with all three local frame axes parallel to the world coordinate frame. The figure XYZ
Elements of a Transformation shows the first part of a transformation. This transformation
has the value X = 30, Y = 100, Z = 125, yaw = 0, pitch = 0, and roll = 0.
Location Variables
(Undefined variable: Primary.Product_Name_V)Language User's Guide, version
17.x
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