About Coordinate Systems

The following describes the coordinate systems necessary to use Force Guide 8.0; in particular, the Force Sensor coordinate system and force coordinate system. All of the coordinate systems are right handed, and the following coordinate systems are used according to the application.

• Robot Coordinate System
  Robot-specific coordinate system. This is also called a default base coordinate system (Base) or world coordinate system (World).

• Local Coordinate System
  User-defined coordinate system positioned in the operation area. (Local)

• Tool Coordinate System
  Coordinate system of a tool mounted to the sixth joint flange of the robot. [Tool] This is generally also called an end-effector coordinate system.

• Force coordinate system
  Coordinate system with an offset from the tool coordinate system. [Force] All of the force functions are performed in the force coordinate system.

• Force Sensor coordinate system
  Force Sensor-specific coordinate system, regardless of the robot. (ForceSensor)

Changes in Position and Posture from Origin to Force Coordinate System

The force coordinate system is impacted by the robot, local, and tool coordinate systems.
For details on the coordinate systems that have an impact on the force coordinate system, refer to the following manual.
"Epson RC+ 8.0 User's Guide"

Example: Coordinate Systems of SCARA Robot