IAI America XSEL-S - Manual (Page 34)

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(8) Horizontal Articulated (SCARA) Robot
There are three types of coordinate systems, base coordinate system, work coordinate system
and tool coordinate system, in Horizontal Articulated (SCARA) Robot.
[Base Coordinate System (= Work Coordinate System No.0)]
It is the three-dimensional orthogonal coordinates + rotational axis coordinates defined in the
robot at the delivery.
Work Coordinate System No. 0 (work coordinate offset 0) = Base coordinate system.
Xb
Yb
Rb
Zb
The origin of X and Y axes is the center of the base (center of 1 st arm rotation).
The origin of Z-axis is the top side of Z-axis effective stroke.
The origin of R-axis is the point where the D-cut surface faces –Xb direction.
In the base coordinate system, X-axis is expressed as Xb, Y-axis as Yb, Z-axis as Zb and
R-axis as Rb.
Coordinates
Base Coordinate System
Work Coordinate System
Tool Coordinate System
Zb=0 -Zb
+Zb
Stroke
Z Axis Position
R Axis
D-shaped Surface
+Yb
-Yb
-Xb +Xb
+Rb
-Rb
-Xb
R-Axis Position from Top View
Center of Tool
Attachment Surface