ABB MultiMove - 4.4. Examples of coordinate systems

4 Calibration
4.4.1. Example "UnsyncArc"
433HAC021272-001 Revision: H
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4.4 Examples of coordinate systems
4.4.1. Example "UnsyncArc"
About this example
In this example, the world coordinate system and the base coordinate system for robot 1 (A)
are identical.
The base coordinate system for robot 2 (B) is defined. Both robots have a user coordinate
system with the origin in a table corner. An object coordinate system is defined for each
robot's work object.
Illustration
xx0300000591
Coordinate systems
Item Description
A Robot 1
B Robot 2
1 World coordinate system
2 Base coordinate system for robot 1
3 Base coordinate system for robot 2
4 User coordinate system for both robots
5 Object coordinate system for robot 1
6 Object coordinate system for robot 2