Definition Of The Control Coordinate System - Renesas RX24T Reference Manual

Reference Guide for a 2-Axis Robot Arm with 2-Phase Stepping
Motors Incorporating Resolvers

2.2 Definition of the Control Coordinate System

The following shows the terms used in this document and the definition of positive and negative of the
rotation direction.
Table 2-1 Definition of the Control Coordinate System
Name
Motor origin
Work origin
Rotation direction of joint
R01AN5644EJ0100 Rev.1.00
Jan 22, 2021
Description
The arm's sensor position corresponding to encoder angles of 0.
The coordinates are to be calculated from the joint angle for the
work origin.
Origin of the coordinate system for use in calculating trajectories.
(120, 120) in the development of this system.
Clockwise is considered the positive direction.
Figure 2-1 Definition of Control Coordinate System
RX24T, RX72M,
RAA3064002GFP/RAA3064003GFP
Motor origin (xx, yy)
Work origin (120, 120)
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