Robot Coordinate Systems
The frames you will meet
| Frame | What it defines |
|---|---|
| World and base | The reference for the cell |
| Tool | Where the working point sits on the tool |
| Work object or user frame | The part or fixture coordinate system |
| Joint | Individual axis positions |
Practical guidance
- Define work frames from the fixture, not from the robot base.
- Re-teach the work frame if the fixture moves.
- Keep a drawing of where each frame's origin sits.
Frame conventions differ between brands. Always work from the controller manual for your model.