Basic Characteristics RAPID

Motion and I/O Principles Coordinate Systems
z
Base coordinate system
Figure 11 If a stationary TCP is used, the object coordinate system is usually based on the wrist
coordinate system.
In the example in Figure 11, neither the user coordinate system nor program
displacement is used. It is, however, possible to use them and, if they are used, they
will be related to each other as shown in Figure 12.
z
Z
y
X
Wrist coordinate system
x
Z
z
y
Y
X
Y
User coordinate system
x
Object coordinate system
Figure 12 Program displacement can also be used together with stationary TCPs.
RAPID Reference Manual 6-11
y
x
z
Object coordinate system
Z
X
Tool coordinate system
y
World coordinate system
z
x
Y
y
Displacement coordinate system
x