Epson Manipulator 4-axis 6-axis schematic diagram

The world coordinate system, called WCS, is made up of three vertical and intersecting axes x, y, and z axes, typically displayed in the lower-left corner of the drawing area, as shown in 1-7. The intersection of the x-axis and y-axis is the coordinate Origin o,x the positive direction of the axis is horizontal to the right, the y-axis positive direction is vertical upward, the z-axis is perpendicular to the Xoy plane, pointing to the operator, in the two-dimensional drawing state, the z axis is not visible. The world coordinate system is a fixed coordinate system, and its coordinate origin and axis direction will not change.
① Robot Basic coordinate system
Definition: The center of the robot installation base, the factory has been defined, the operating interface mode "Default" is the robot coordinates, "current position" shows the value of the center point of the flange plane (6 axis), the end of The wire rod at the center of the plane (4 axis).
② Local coordinate system
Definition: Shift of the robot coordinate system (other systems are also called workpiece coordinates)
③ Tool coordinate system
Definition: User coordinates defined at the end of the tool

Epson Manipulator 4-axis 6-axis