Pilz PRBT 6 - Positions and Orientation of the Coordinate Systems on the Robot Arm

Design and planning
System Description Service Robotics Modules
1004870-EN-05
| 68
5.2 Positions and orientation of the coordinate systems on the
robot arm
Z
Flange
Y
Flange
X
Flange
Z
Flange
Y
Flange
X
Flange
Z
Flange
Y
Flange
X
Flange
KS
Flange
KS
Robot
KS
Flange
Z
Robot
X
Robot
Y
Robot
Z
Robot
X
Robot
Y
Robot
Joint 3
Joint 2
Joint 1
Fig.: Positions in the robot coordinate system when all axes are in zero position (all specifications in mm)
Legend
When looking at the axis, the tip of the axis arrow points towards the
observer.
When looking at the axis, the tip of the axis arrow points away from
the observer.