Workspace Coordinates Relative Location Joint Angles Workspace Coordinates The ACE software introduces a new feature called "workspace coordinates". The workspace coordinates use the offset defined in the Offset From Parent item for each robot. You can pick a "parent" (a point in the system that all robots will be relative to) and set the Offset From Parent item for each robot in the system. This allows you to have a common workspace coordinate system for all robots in the system. Additionally, the ACE software contains a Workspace Reference calibration wizard, which relates the pos- itions of all robots and conveyor belts used in an application to a common workspace coordinate system.
For details, see Workspace Positioning on page 945. ACE User's Guide, 3.6.x 18316-000 Rev A Page 60