Basic Characteristics RAPID

Motion and I/O Principles Coordinate Systems
y
Original position
Figure 5 If program displacement is active, all positions are displaced.
1.2.6 Coordinated external axes
x
Object coordinate system
New position
Coordination of user coordinate system
If a work object is placed on an external mechanical unit, that is moved whilst the robot
is executing a path defined in the object coordinate system, a movable user coordinate
system can be defined. The position and orientation of the user coordinate system will,
in this case, be dependent on the axes rotations of the external unit. The programmed
path and speed will thus be related to the work object (see Figure 6) and there is no
need to consider the fact that the object is moved by the external unit.
joint 1
y
User coordinate system
Figure 6 A user coordinate system, defined to follow the movements of a 3-axis external mechanical
unit.
RAPID Reference Manual 6-7
x
Displacement coordinate system
joint 2 joint 3
z
y
x
z
y
World coordinate system
x