ABB B5EEd HENF105082R4通道触点模块
世界坐标系世界坐标系表示整个工作站或机器人单元。这是与所有其他坐标系相关的层次结构的顶部。任务框架坐标系统任务框架坐标系可用于在工作站或机器人单元内进行定义，尤其是多个机器人或机构。一个任务框架可以协调多个机制的放置，而多个任务框架适用于使用“多移动独立”。基地坐标系工作站中的每个机器人都有一个基地坐标系，该坐标系始终位于机器人的基地。刀具中心点坐标系刀具中心点座标系，也称为TCP，是刀具的中心点。可以为一个机器人定义几个不同的TCPs。所有机器人在机器人的工具安装点都有一个预定义的TCP，称为工具0。当程序运行时，机器人将TCP移动到编程位置。
World coordinate system The world coordinate system represents the entire station or robot cell. This is the top of the hierarchy to which all other coordinate systems are related. Task frame coordinate system The task frame coordinate system is useful to define within a station or robot cell, in particular with multiple robots or mechanisms. One task frame can coordinate the placement of several mechanisms, whereas several task frames are suitable when working with MultiMove Independent. Base coordinate system Each robot in the station has a base coordinate system, which is always located at the base of the robot. Tool Center Point coordinate system The tool center point coordinate system, also called TCP, is the center point of the tool. Several different TCPs may be defined for one robot. All robots have one predefined TCP at the robot’s tool mounting point, called tool0 When a program runs, the robot moves the TCP to the programed position.
