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Source: Shanghai FANUC Technology Salon
Coordinate system is a position index system defined for robot or space in order to determine the position and posture of a robot. Coordinate system is divided into joint coordinate system and rectangular coordinate system.

3. world coordinate system

The world coordinate system is a standard Cartesian coordinate system which is fixed on the space and is fixed in the position determined by the robot beforehand. The user coordinate system is set based on the coordinate system. It is used to teach and execute location data. The general criteria for the origin of the world coordinate system of the /M (R series /ARC Mate/LR Mate) are as follows:
(1) overhead mounting robot, beyond M-710iC: horizontal axis J2 axis and cross position on the J1 axis.
(2) the point on the J1 axis closest to the J4 axis when the crane is installed and the M-710iC:J1 axis is in the 0 position.

4. tool coordinate system
This is the coordinate system used to define the position of the tool center point (TCP) and the tool attitude. Tool coordinate system must be set in advance. In the absence of definition, the default tool coordinate system is used instead of the coordinate system.

5. user coordinate system
This is the Cartesian 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. In the absence of definition, the world coordinate system will be used instead of the coordinate system.