Hi,
Beginner question, how to understand the difference between the base coordinate system and the tool coordinate system. When i use either reference, i get confused by moving for instance the Y direction or X direction.I guess my question is, is there a trick to knowing which X or Y button to move it the arm or TCP in the direction i want. Am i correct in saying using a tool feature move is for precices positioning of the gripper/ tool and using a base feature move would be for a general type move?
Movement in the base coordinate system is based off of the end of the robot arm - the center of the tool output flange. The tool coordinate system is based off of whatever you set the TCP to (I believe they may be the same by default). The tool coordinate system is helpful if you have an offset tool on the end of the robot that you need to make movements based on.
There is no difference in accuracy, but the positional basis for movements changes. Base coordinates will always be in the same direction to the mounted base of the robot. Tool coordinates will depend on which direction the tool is currently facing.
In the example image above, say you want to move 10cm in the x (red axis). If the movement is from the base coordinate system, the robot arm will extend linearly to the left. If the movement is from the tool coordinate system, the robot arm will move linearly into the screen. Similarly, a rotation in base coordinates will rotate around the tool flange, while a rotation in the tool coordinates will rotate around the TCP.
1 Like