Coordinate System - Epson C8 Series Manipulator Manual

Setup & Operation 5. Motion Range

5.4 Coordinate System

The origin point is where the Manipulator's installation face intersects with the rotation axis
of Joint #1.
For details on the coordinate system, refer to the EPSON RC+ Users Guide manual.
Table Top mounting Ceiling mounting Wall mounting
+Z
+X
+Y
+Z
+X
+Y
+X
+Z
+X
+X
+Y
+Y
+Y
BASE setting is suitable for install the robot obliquely.
BASE setting can change a specific coordinate system of the robot and match the World
coordinate system of the Jog & Teach and the coordinate system of the equipment.
For procedure of the BASE setting, refer to SPEL+ Language Reference: BASE Command.
With BASE setting Without BASE setting
+Z
+Z
+X +X
+Y
+Y
+Z
+Z
+Y
+Y
C8 Rev.13 71