Coordinate Frames and Tool Centres
Core terms
| Term | Meaning |
|---|---|
| World frame | The cell reference coordinate system |
| Base frame | The robot's own origin on its mounting |
| Tool frame (TCP) | The working point at the end of the tool |
| Work object or user frame | The coordinate system of the part or fixture |
| Joint space | Positions expressed as axis angles |
Practical rules
- Define work frames from the fixture so a fixture move is one update.
- Record frame origins and re-check after maintenance.
- Train staff on which frame each program uses.
Frame conventions differ between brands. Follow the controller documentation for your model.