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3.4
Coordinate System
The robot's joint angle origin (0° or 0 mm position) is factory-calibrated according to the
base reference planes. Fig. 3.1 shows the base coordinate system (XB, YB, ZB) and
origin of each axis joint angle.
(–)
XB
Axis 4
(+)
DUST-PROOF & DRIP-PROOF TYPE SPECIFICATIONS MANUAL
Reference plane
(–)
Axis 2
(+)
(+)
Axis 3
(–)
Fig. 3.1 Base coordinate system and joint angle origin
Reference plane
(–)
Axis 1
(+)
YB
Z
B
– 21 –
Origin of base
coordinate system
(Z-axis stroke 200 mm)
Origin of base
coordinate system
(Z-axis stroke 370 mm)
STE 80747
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