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3.3
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.
X
B
Z150: Upper limit
Z300: Upper limit
Z150: Origin
Fig. 3.1 Base coordinate system and joint angle origin
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Axis 3
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Z300: Origin
CLEAN TYPE SPECIFICATIONS MANUAL
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– 19 –
Y
B
Origin of base
coordinate system
For Z-stroke of 150 mm
Z
B
Origin of base
For Z-stroke of 300 mm
STE 85337-0
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