Coordinate System - Toshiba TH850A Instruction Manual

3.4

Coordinate System

The robot's joint angle origin (0° or 0 mm position) is factory-calibrated according to the
base reference planes. Fig. 3.1 and Fig. 3.2 show the base coordinate system (XB,
YB, ZB) and origin of each axis joint angle.
(–)
XB
Axis 4
(+)
Fig. 3.1 Base coordinate system and joint angle origin (TH850A)
DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL
(–)
Axis 2
(+)
(+)
Axis 3
(–)
– 23 –
Reference
Reference
surface
surface
(–)
Axis 1
(+)
YB
ZB
Origin of base
coordinate system
when Z-axis stroke
is 170 mm
Origin of base
coordinate system
when Z-axis stroke
is 340 mm
STE 80765