Toshiba TH650A - Coordinate System

TRANSPORTATION AND INSTALLATION MANUAL
3.2.3 Coordinate System
The robot's joint angle origin (0° or 0 mm position) is factory-calibrated according to the
base reference planes. Fig. 3.3 shows the base coordinate system and origin of each
axis joint angle.
Fig. 3.3 Base coordinate system and joint angle origin
ZB
Origin of base
coordinate system
(when Z
-axis stroke
is 200 mm)
(+)
(+)
(+)
(+)
(–)
(–)
(–)
(–)
Axis 1
Axis 2
Axis 3
Axis 4
XB
YB
Reference
plane
Reference
plane
Origin of base
coordinate system
(when Z
-axis stroke
is 400 mm)
STE 85305
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