Toshiba TVL Series - Coordinate System

TRANSPORTATION AND INSTALLATION MANUAL
35
Coordinate System
3.2.3.
The robot's joint angle origin (0 position) is factory-calibrated according to the base
reference planes. Fig. 3.5 shows the base coordinate system and origin of each axis
joint angle.
Fig. 3.5 Base coordinate system and joint angle origin (TVL500)
Axis 2
(+)
(-)
Axis 3
(+)
(-)
Axis 5
(+)
(-)
Axis 1
Axis 4
Axis 6
(+)
(+)
(+)
(-)
(-)
(-)
TVL500/TVL700
TVL500
TVL700
Angle of axis []
Base coordinate
system [mm]
Base coordinate
system [mm]
J1
0
X
70
X
70
J2
0
Y
0
Y
0
J3
0
Z
900
Z
1100
J4
0
A
0
A
0
J5
0
B
0
B
0
J6
0
C
0
C
0