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MLX200 Software and
Operations
3 Developing with MLX200
3.3 Programming Introduction
Fig. 3-13: Example of Blend Factor Effect on Motion
3.3.5 Coordinate Frames Relevant to Robotics
There are several coordinate frames (i.e. “frames of reference”) that are
important to understand when programming a robot in a workcell.
• World Frame - is the base coordinate frame (defined in Cartesian
space (X,Y,Z)) of the overall workcell. The position of any object in a
workcell (robots, conveyors, pallets, etc) is defined in this frame.
• Robot Frame - is the location of the base of the robot defined in
World Frame coordinates. Positions defined in the Robot Frame will
be relative to the base of the robot instead of the World Frame. This
can be seen in Fig.3-15 "Robot Frame vs. World Frame" where the
TCP reported in the Robot Frame will be offset from the TCP
reported in the World Frame. By default, the Robot Frame and World
Frame are setup to coincide but can be changed with the
MLxRobotSetBasePose instruction.
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