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C4 Manipulator 5. Motion Range
5.4 Coordinate System
The origin point is where the Manipulator base intersects with the rotation axis of Joint #1.
For details on the coordinate system, refer to the EPSON RC+ Users Guide manual.
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.
60
Table Top mounting
+Z
+X
+Y
With BASE setting
+Z
+X
+Y
+Z
+Y
Ceiling mounting
+Z
+X
+Y
+X
+
Y
Without BASE setting
+Z
+X
+Y
+Z
+Y
C series Rev.2
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