Design and planning
System Description Service Robotics Modules
1004870-EN-05
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5 Design and planning
The system or plant integrator is responsible for planning and configuration of the plant or
machine.
5.1 Coordinate system
World coordinate system
Base transformation
Robot base
End-effector
X
Robot
Z
Robot
Y
Robot
TCP
transformation
X
Y
Z
Robot coordinate system
Z
Base
Y
Base
X
Base
X
Flange
Z
Flange
Z
End-effector
Y
End-effector
X
End-effector
Y
Flange
Flange TCP
End-effector TCP
TCP
Right-oriented:
Fig.: Robot arm’s coordinate systems
Legend
World coordinate system The coordinates of the world coordinate system refer to
the workspace.
Axes of the coordinate system: X
Base
, Y
Base
, Z
Base
Robot coordinate system The robot coordinate system is the robot arm’s main co-
ordinate system (see Positions and orientation of the co-
ordinate systems on the robot arm [ 68]).
Axes of the coordinate system: X
Robot
, Y
Robot
, Z
Robot
Flange coordinate system The flange coordinate system is situated on the robot
arm's flange (see Positions and orientation of the coordin-
ate systems on the robot arm [ 68]).
Axes of the flange coordinate system: X
Flange
, Y
Flange
, Z
Flange
Flange TCP If no end-effector is installed on the robot arm, then the
TCP must be equated to the flange TCP.
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