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TRANSPORTATION AND INSTALLATION MANUAL
2.2.3
Coordinate System
The robot's joint angle origin (0° or 0 mm position) is factory-calibrated according to the
base reference planes. The base coordinate system is determined according to this
calibration. Figs. 2.5 to 2.8 show the base coordinate system and zero position of
each axis joint angle. Figs. 2.5 to 2.8 show the base coordinate system by X
Y
Z
.
B
B
B
Reference plane
Reference plane
Axis 2
Axis 2
Axis 4
Axis 1
Axis 4
Axis 1
Axis 3
Origin of base coordinate system
Fig. 2.5 TH250A base coordinate system and joint angle origin
STE 73995
– 21 –
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