Basic Coordinate System - Siemens SINUMERIK 840D sl Programming Manual

3.2

Basic coordinate system

In the default setting, the basic coordinate system lies at the foot point of the robot (dark red
coordinate system in the following diagram). Consequently, this produces an offset in the Z axis
compared with the internal robot coordinate system. The data is an example for a 6-axis
industrial robot.
Depending on the system specification, using the following machine data, you can shift and
rotate the basic coordinate system with respect to the internal robot coordinate system as
required. The basic coordinate system does not need to lie at the foot point of the robot.
Note
The internal robot coordinate system (yellow coordinate system in the following diagram) is
fixed.
Figure 3-2
Machine data
N62912 $MC_ROBX_TIRORO_POS[0]
N62912 $MC_ROBX_TIRORO_POS[1]
N62912 $MC_ROBX_TIRORO_POS[2]
N62913 $MC_ROBX_TIRORO_RPY[0]
N62913 $MC_ROBX_TIRORO_RPY[1]
N62913 $MC_ROBX_TIRORO_RPY[2]
SINUMERIK Run MyRobot /Direct Control
Programming Manual, 12/2018, A5E45237742B AB
Z
IRO
Y
IRO
X
IRO
Z
RO
Y
RO
X
RO
Basic coordinate system
Coordinate systems
3.2 Basic coordinate system
Value Dimension
0 mm
0 mm
675 mm
0 Degrees
0 Degrees
0 Degrees
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