Coordinate System - Toshiba TH450A-CRB Instruction Manual

3.3

Coordinate System

The robot's joint angle origin (0° or 0 mm position) is factory-calibrated according to the
base reference planes. Figs. 3.1 to 3.2 show the base coordinate system (XB, YB,
ZB) and origin of each axis joint angle.
(–)
X
B
(+)
Fig. 3.1 Base coordinate system and joint angle origin (TH450A-CRB/TH550A-CRB)
(–)
(+)
(+)
(–)
– 25 –
CLEAN TYPE SPECIFICATIONS MANUAL
(–)
(+)
Y
B
Z
B
Origin of base
coordinate system
(Z-axis standard stroke)
STE 80872-0