Basic Characteristics RAPID

CONTENTS
Motion and I/O Principles
1 Coordinate Systems......................................................................................................... 3
1.1 The robot’s tool centre point (TCP)........................................................................ 3
1.2 Coordinate systems used to determine the position of the TCP............................. 3
1.2.1 Base coordinate system................................................................................ 3
1.2.2 World coordinate system ............................................................................. 4
1.2.3 User coordinate system ................................................................................ 5
1.2.4 Object coordinate system............................................................................. 5
1.2.5 Displacement coordinate system.................................................................. 6
1.2.6 Coordinated external axes............................................................................ 7
1.3 Coordinate systems used to determine the direction of the tool............................. 8
1.3.1 Wrist coordinate system............................................................................... 9
1.3.2 Tool coordinate system ................................................................................ 9
1.3.3 Stationary TCPs ........................................................................................... 10
1.4 Related information ................................................................................................ 12
2 Positioning during Program Execution......................................................................... 13
2.1 General.................................................................................................................... 13
2.2 Interpolation of the position and orientation of the tool......................................... 13
2.2.1 Joint interpolation ........................................................................................ 13
2.2.2 Linear interpolation...................................................................................... 14
2.2.3 Circular interpolation ................................................................................... 15
2.2.4 SingArea\Wrist............................................................................................. 16
2.3 Interpolation of corner paths................................................................................... 16
2.3.1 Joint interpolation in corner paths................................................................ 17
2.3.2 Linear interpolation of a position in corner paths ........................................ 18
2.3.3 Linear interpolation of the orientation in corner paths ................................ 18
2.3.4 Interpolation of external axes in corner paths.............................................. 19
2.3.5 Corner paths when changing the interpolation method ............................... 19
2.3.6 Interpolation when changing coordinate system.......................................... 20
2.3.7 Corner paths with overlapping zones........................................................... 20
2.3.8 Planning time for fly-by points .................................................................... 21
2.4 Independent axes .................................................................................................... 22
2.4.1 Program execution ....................................................................................... 22
2.4.2 Stepwise execution....................................................................................... 22
2.4.3 Jogging......................................................................................................... 23
2.4.4 Working range.............................................................................................. 23
2.4.5 Speed and acceleration................................................................................. 24
2.4.6 Robot axes.................................................................................................... 24
RAPID Reference Manual 6-1
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