Selecting A Coordinate System - Mitsubishi Electric CR750-Q Instruction Manual

5.8.1 Selecting a coordinate system

This function, when the user proceeds with operation after changing the base coordinate system by a Base
command or the like, permits the user to choose between the option to move user-defined area concurrently
or the option to keep it fixed. This choice is accomplished by specifying by the parameter AREAnCS that the
reference coordinate system is "world coordinate system" (for moving user-defined area concurrently) or
that the same is "base coordinate system" (keeping user-defined area fixed).
If the user does not make any change to the base coordinate system, the user-defined area remains
unchanged regardless of the choice he makes.
Table 5-10:Explanation of coordinate system
Coordinate system
World coordinate system
Base coordinate system
<Select the world coordinate system>
【ワールド座標系を選択した場合】
Definition area
定義領域
Base coordinate
ベース座標系
system
World coordinate system
ワールド座標系
<Select the base coordinate system>
【ベース座標系を選択した場合】
Definition area
定義領域
Base coordinate
ベース座標系
system
World coordinate system
ワールド座標系
Fig.5-3:Difference between "World coordinate system" and "Base coordinate system"
When the base coordinate system is changed, the user-defined area moves concurrently. A change
occurs in the relative positional relation between the robot arm and the user-defined area.
Change of base coordinate system does not cause the user-defined area to move. Relative posi-
tional relation between the robot arm and the user-defined area is stationary.
This provision helps when the user proceeds with operation after making a change to the base coor-
dinate system but wants to keep stationary relative positional relation between the robot arm and
the user-defined area.
Change to base coordinate
system causes a change to
relative positional relation
ベース座標変更により、
between the robot body and
the user-defined area ロボットと定義領域との
相対位置関係が変化する
Robot
ロボット
Change the
ﾍﾞｰｽ座標系
base coordi-
変更
nate system
Change to base coordinate
system causes no change to
relative positional relation
ベース座標を変更しても、
between the robot body and
ロボットと定義領域との
the user-defined area.
相対位置関係が変化しな い
Robot
ロボット
Change the
ﾍﾞｰｽ座標系
base coordi-
変更
nate system
5Functions set with parameters
Description (feature)
Definition area
定義領域
Base coordinate
ベース座標系
system
World coordinate system
ワールド座標系
Definition area
定義領域
Base coordinate
ベース座標系
system
World coordinate system
ワールド座標系
About user-defined area 5-475
Robot
ロボット
Robot
ロボット