Coordinate System

World Coordinate

To configure the world coordinate, click Modify Item

button on the toolbar or select the Modify Item menu on the context menu after selecting the World Coordinate item.

Configure the world-base relation in the editing window. World-Base relation means the position and the orientation of the robot based on the world coordinate system.

Item	Description
X	Coordinates of the relative position of the robot base in the X axis direction of the world coordinate system
Y	Coordinates of the relative position of the robot base in the Y axis direction of the world coordinate system
Z	Coordinates of the relative position of the robot base in the Z axis direction of the world coordinate system
A	Angle of the XY coordinate axis of the robot base rotated with the Z axis of the world coordinate system as the rotation axis
B	Angle of ZX coordinate axis of robot base rotated with Y axis rotated above
C	Angle of XY coordinate axis of robot base rotated with Z axis rotated above

Add a user coordinate

To add a user coordinate, click Add Item

button on the toolbar or select the Add Item menu on the context menu after selecting the User Coordinate item.

Set the properties of the user coordinate and click the Confirm button.

Property	Description
ID	At most 100 user coordinates can be defined. The id of the coordinate is pre-assigned. So select the id of the coordinate. It cannot be duplicated with other coordinate setting.
Basis Coordinate System.	Set the basis coordinate system among the World coordinate system and the Base coordinate system.
Coordinate Setting	Set the origin position and the orientation of the user coordinate system based on the basis coordinate system. X, Y, Z: the origin position based on the basis coordinate system. A, B, C: the orientation of the coordinate based on the basis coordinate system.

Modify the user coordinate

To modify a user coordinate, click Modify Item

button on the toolbar or select the Modify Item menu on the context menu after selecting the item to modify.

The coordinate ID cannot be modified.

After setting properties, click the Confirm button.

Delete a user coordinate

To delete a user coordinate, click Delete Item

button on the toolbar or select the Delete Item menu on the context menu after selecting the item to delete.