1. Joint coordinate system
The joint coordinate system is set in the robot joint. The position and posture of the robot in the joint coordinate system are determined based on the joint coordinate system of the base side of each joint. The joint values of the joint coordinate system in Figure 1 are as follows:
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2. Rectangular coordinate system
The position and posture of the robot in the rectangular coordinate system are defined by the coordinate values x, y, z from the origin of the rectangular coordinate system in space to the origin of the rectangular coordinate system on the tool side (tool center point) and the rotation angles W, P, R of the rectangular coordinate system on the tool side around the relative axis X, y and Z of the rectangular coordinate system in space. Figure 2 below shows the meaning of (W, P, R).
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3. World coordinate system
The world coordinate system is a standard rectangular coordinate system fixed in space, which is fixed in the position determined by the robot in advance. The user coordinate system is set based on this coordinate system. It is used for teaching and executing position data. The general criteria for the origin position of the world coordinate system of robots (R Series / M Series / arc mate / LR mate) are as follows:
① Top mounted robot, except m-710ic: horizontally move the J2 axis on the J1 axis and cross it.
② Top mounted robot, m-710ic: when the J1 axis is in position 0, the point on the J1 axis nearest to the J4 axis.
4. Tool coordinate system
This is the coordinate system used to define the position of the tool center point (TCP) and the tool attitude. The tool coordinate system must be set in advance. When not defined, the default tool coordinate system replaces it.
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5. User coordinate system
This is the rectangular coordinate system defined by the user for each workspace. It is used for the teaching and execution of position register and the execution of position compensation instruction. When not defined, the world coordinate system will replace it.


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