Chapter 7 Appendix7.1 Work and Tool Coordinate System Features for Linear Axis
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7.1.1 Coordinates for Coordinate System Definition Unit
The coordinate system for the coordinate system definition unit consists of four coordinate axes at
the maximum (X-axis, Y-axis, Z-axis and R-axis).
At this time, it should be premised that the physical axes applicable for each coordinate axis satisfy
the following conditions.
Figure: Example for orthogonal unit satisfying conditions above
・X-axis, Y-axis and Z-axis are laid orthogonally to each other.
・The center axis of rotary for the R-axis is laid orthogonally to XY plane. (It is parallel to Z-axis if
there is Z-axis.)
・A tool is attached on the R-axis if there is R-axis. (It should be premised that the tool attachment
datum point is on the R rotation axis.)
Y-Axis
X-Axis
Z-Axis
R-Axis
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