Glossary · Automation fundamentals, platforms and components
Coordinate system (robotics)
Also known as: Frame, Reference frame
German: Koordinatensystem
In robotics and motion control, a coordinate system is a reference frame used to describe positions and orientations, such as the world, base, flange, tool and workpiece coordinate systems defined in ISO 9787.
- Automation components
- Standards
In one sentence
In robotics, a coordinate system is a reference frame, such as world, base, tool or workpiece, used to describe positions and orientations.
Example
After the gripper is changed, the tool coordinate system is re-taught so that programmed points still refer to the gripper's center.
How it applies
- Engineering: Robot and CNC programs refer to points in a chosen coordinate system. Defining tool and workpiece frames lets programs be reused when fixtures or tools change.
- Commissioning: Frames are measured or taught, and errors here cause collisions or wrong positions.
- Documentation: Robot manuals and programming guides should state which coordinate system is active in each mode and how to jog in it. Illustrations should show axis directions clearly, following ISO 9787 conventions where applicable.
World frame vs. tool frame
The world or base frame is fixed in the cell; the tool frame moves with the tool. Jogging "in X" means something different in each, which is a common source of operator errors during setup.