Coordinate System; Current Position; Current Arm Orientation - Epson TP3 Manual

3.6.1 Coordinate System

The coordinate system to perform teaching can be selected from the user-defined
coordinate systems.
For details, refer to Operation 3.5 Robot Parameter
Item
Local
Tool
Arm

3.6.2 Current Position

This group displays the current position of the robot. There are three ways to display the
position.
Some display modes may not be available depending on the type of the robot.
World
Joint
Pulse

3.6.3 Current Arm Orientation

This group displays the current arm orientation.
Flags representing the arm orientation vary depending on the type of the robot.
RC700-A option TP3 Rev.8
Defined Local coordinate system.
0 is the same as the Base coordinate system.
Defined tool coordinate system
Arm coordinate system defined as the additional arm.
This is available for the following robots.
Rectangular coordinate robots
SCARA robots
Item
Current position and tool orientation in the selected Local coordinate
system
Current coordinate of the joints
Current pulse of the joints
Operation 3. TEACH/T1 Mode
Description
Description
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