Basic Characteristics RAPID

Motion and I/O Principles Coordinate Systems
1.3.1 Wrist coordinate system
In a simple application, the wrist coordinate system can be used to define the
orientation of the tool; here the z-axis is coincident with axis 6 of the robot
(see Figure 8).
Figure 8 The wrist coordinate system.
The wrist coordinate system cannot be changed and is always the same as the mounting
flange of the robot in the following respects:
- The origin is situated at the centre of the mounting flange (on the mounting surface).
- The x-axis points in the opposite direction, towards the control hole of the
mounting flange.
- The z-axis points outwards, at right angles to the mounting flange.
1.3.2 Tool coordinate system
x
The tool mounted on the mounting flange of the robot often requires its own coordinate
system to enable definition of its TCP, which is the origin of the tool coordinate
system. The tool coordinate system can also be used to get appropriate motion
directions when jogging the robot.
If a tool is damaged or replaced, all you have to do is redefine the tool coordinate
system. The program does not normally have to be changed.
The TCP (origin) is selected as the point on the tool that must be correctly positioned,
e.g. the muzzle on a glue gun. The tool coordinate axes are defined as those natural for
the tool in question.
RAPID Reference Manual 6-9
y
z