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Robot Concepts
10.2 The Coordinate System
What is the World Coordinate System?
A robot location specifies the position and orientation of the robot tool tip in 3-dimensional space.
By default, the tool tip is the center of the mounting flange of the robot. Locations are, by default,
relative to the base of the robot. See Figure 10-2 for an example using an <strong>Adept</strong> SCARA robot. For
a default (world) location, the coordinate offsets are from the origin of the world coordinate system
(which is located at the base of the robot).
Defining a Location
Figure 10-2. World Coordinate System
Locations are defined using the World Coordinate System (see above) or by specifying the
positions of the individual robot joints. When defining a location, each of the values
described in Table 10-1 must be entered into the Location Registers (F242:0-5 or
<strong>Adept</strong>_Location.0-5).
NOTE: Failure to enter all of the values, as described below, for each
location, may result in an “invalid orientation” or similar error when the
robot attempts to access that location.
142 <strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B