ABB OmniCore S Series Operating Manual page 71

The world coordinate system
A
B
C
The world coordinate system has its zero point on a fixed position in the cell or
station. This makes it useful for handling several robots or robots moved by external
axes.
By default the world coordinate system coincides with the base coordinate system.
Examples of use
For example, you have two robots, one floor mounted and one inverted. The base
coordinate system for the inverted robot would be upside down.
If you jog in the base coordinate system for the inverted robot, movements will be
very difficult to predict. Choose the shared world coordinate system instead.
Operating manual - OmniCore
3HAC065036-001 Revision: E
Base coordinate system for robot 1
World coordinate
Base coordinate system for robot 2
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5.2 Coordinate systems for jogging
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5 Jogging
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