1) Base coordinate system
This is Cartesian coordinates with the base (installation surface) of a robot as a reference. Based on the origin of the base, the tool coordinate system and the TCP (Tool Center Point *) are calculated in accordance with information about the link length and the axis position. The origin of the base coordinate system cannot be changed.
* The center point when controlling a tool at the tip of a robot.
2) User coordinate system (World coordinate system )
This is Cartesian coordinates to operate the TCP to set a desired position as the origin. When executing return-to-origin operation after setting the origin, the TCP moves to the origin of the user coordinate system. Three user coordinate systems (user coordinate system 1 to user coordinate system 3) can be set to the MRC01 controller and switched according to the operation. When the setup of the robot is completed, the user coordinate system 1 is applied. The origin is the same as the origin of the base coordinate system at this time .
3) Tool coordinate system
This is Cartesian coordinates with a tool attached to the tip of a robot as the origin. The position having offset by the tool offset from the origin is the TCP. The coordinates in the tool coordinate system include Tx, Ty, and Tz, which represent the direction the tool moves. If Rx, Ry and Rz are set, the tool rotates around the TCP. Rx represents the rotation angle around the Tx axis, Ry around the Ty axis, and Rz around the Tz axis. For the directions in which the robot can be operated, refer to “Degrees of freedom and number of axes for robots” .
