Using The Irb 14000; Axes And Coordinate Systems - ABB IRB 14000 Operating Manual

3 Using the IRB 14000

3.1 Axes and coordinate systems

What is a coordinate system?
A coordinate system defines a plane or space by axes from a fixed point called
the origin. Robot targets and positions are located by measurements along the
axes of coordinate systems.
A robot uses several coordinate systems, each suitable for specific types of jogging
or programming.
For more information on coordinate systems, see the Jogging section in Operating
manual - IRC5 with FlexPendant.
Axes and joystick directions
The axes of the robot can be jogged manually using the joystick. The following
illustration shows the location and movement patterns for each axis.
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Operating manual - IRB 14000
3HAC052986-001 Revision: E
• The base coordinate system is located at the base of the robot. It is the
easiest one for just moving the robot from one position to another.
• The work object coordinate system is related to the work piece and is often
the best one for programming the robot.
• The tool coordinate system defines the position of the tool the robot uses
when reaching the programmed targets.
• The world coordinate system that defines the robot cell, all other coordinate
systems are related to the world coordinate system, either directly or
indirectly. It is useful for jogging, general movements and for handling stations
and cells with several robots or robots moved by external axes.
• The user coordinate system is useful for representing equipment that holds
other coordinate systems, like work objects.
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3.1 Axes and coordinate systems
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