What is the relationship between robot base coordinates, workpiece coordinates, and tool coordinates? On-site application explanation.

On-site positional deviations are not necessarily due to mechanical accuracy. An error in the setting of any one of the tool coordinates, workpiece coordinates, or base coordinates can cause a consistent offset or change in posture for an entire program segment.

1. Key Inspection Points
2. Tool coordinates define the position and orientation from the flange to the Tool Center Point (TCP).
3. Workpiece coordinates define the machining datum for the product, fixture, or workbench.
4. Base coordinates are used to describe the spatial relationship of the robot base, floor track, positioner, or other equipment.
5. For coordinated external axis applications, it is also necessary to ensure that both the mechanical zero point and the coordinate relationships are correct.
6. Troubleshooting Steps
7. First, confirm the robot's mechanical zero point and base installation status before performing coordinate calibration.
8. Calibrate the TCP after tool changes, and re-calibrate workpiece coordinates after fixture movement.
9. Use multiple known points to check coordinate direction, origin, and rotational relationships.
10. After modifying coordinates, verify key program points, safety zones, and the complete process trajectory.
11. Common Misconceptions
12. Modifying the program point-by-point after discovering an entire trajectory offset, without checking the coordinates.
13. Modifying both tool coordinates and workpiece coordinates simultaneously, making it difficult to identify the source of error.
14. Continuing to use the original base coordinates and workpiece coordinates after relocating the robot.
15. Summary

Base coordinates describe the positional relationship of the robot or external equipment, workpiece coordinates describe the product datum, and tool coordinates describe the end effector; together, these three determine the actual position of program points.

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