90
Example:
When expressed in coordinate system {A}:
B is (207,0,112,180,0,0), D
AC
= 1000mm, if user want to set the world reference
coordinate system to {C}, just express the position and orientation of user
coordinate system {C} in coordinate system {A}.
As figure shown, the offset of the base coordinate system should be
(1000,0,0,0,0,180).
Former TCP coordinates of B (207,0,112,180,0,0) in base coordinate system, after
user coordinate system offset setting:
Becomes: B ’(793,0,112,180,0,180)
1.4.4 Mounting
Setting the mounting direction of the robotic arm is mainly to inform the
control box of the current relationship between the actual mounting
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