System Setup
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9.8 User coordinates setting
9.8.1 Methods for user coordinates setting
here are two methods for user coordinates setting as following.
• Perform teaching by axis operations of the robot
User coordinates are defined by three points that have been taught to the robot through
axis operations. These three defining points are ORG, XX, and XY, as shown in the
diagram below. These three points of positional data are registered in a user coordinate
file
RG is the home position, and XX is a point on the X-axis. XY is a point on the Y-axis side
of the user coordinates that has been taught, and the directions of Y- and Z-axes are
determined by point XY.
NOTICE
It is important that the two points ORG and XX are taught exactly.
Specify the amount of change from the basic coordinates.
User coordinates are defined by specifying the coordinates as a basic coordinates (base
coordinates or user coordinates) and the amount of change of coordinate value from the
basic coordinates. As shown in the following figure, the data X, Y, Z, Rx, Ry, Rz indicate the
amount of change of coordinate value. These six data is registered in the user coordinates
file.
X,Y,Z are the amount of movement with respect to the basic coordinates. Rx, Ry, Rz are the
rotation angle with respect to the basic coordinates.
Z-axis
X-axis
Y-axis
Z-Axis
X-Axis
Y-Axis
Basic coordinates
Specify the amount of change (Y, Y, Z,
Rx, Ry, Rz)
Definition of user coordinates
1
ORG
XY
XX
1
2
3
2
3
1
2
3
4
5
6
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