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3.2.3
Coordinate System
The robot's joint angle origin (0° or 0 mm position) is factory-calibrated according to the
base reference planes. Fig. 3.5 shows the base coordinate system and origin of each
axis joint angle. The same coordinate system is used for the TH850A, TH1050A, and
TH1200A.
The figure below shows the TH850A.
Axis 4
Fig. 3.7 Base coordinate system and joint angle origin
TRANSPORTATION AND INSTALLATION MANUAL
Axis 2
Axis 3
Axis 3
– 31 –
Reference plane Reference plane
Axis 1
Origin of base
coordinate system
(when Z-axis stroke
is 200 mm)
Origin of base
coordinate system
(when Z-axis stroke is
400 mm)
STE80753
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