2 Manipulator Coordinate Systems and Operations
2.4 Coordinate Frames and Manipulator Jogging
2-21
HW1485509
HW1485509
2.4.7 Motion at Robot TCP
For motion at the TCP (Tool Center Point), the manipulator’s posture can
be modified without changing the position of the tool’s tip (TCP). The
motion at TCP is available in the World Coordinate Frame, Tool
Coordinate Frame, and User Coordinate Frame.
The motion of each axis is described in the table below.
Turning of each wrist axis differs in each coordinate system.
– In World Frame, wrist axis rotations are based on the X, Y, and Z
axes of the manipulator.
Table 2-2: Axis Motion in Motion at TCP
Axis Axis Operation Key Motion
Wrist Axes Only the tool’s posture
changes with the TCP fixed.
The tool’s posture changes
around the axes of the
specified coordinates.
X-axis
Y-axis
Z-axis
Z-axis
X-axis
Y-axis
+
-
-
-
+
+
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