Location Variables Omron Adept Robot Cartesian Space Transformations The first three components of a transformation variable are the values for the points on the X, Y, and Z axes. In an Omron Adept SCARA robot, the origin of this Cartesian space is the base of the robot. The Z axis points straight up through the middle of the robot column. The X axis points straight out, and the Y axis runs left to right as you face the robot. The first robot in the figure Omron Adept Robot Cartesian Space shows the orientation of the Cartesian space for an Omron Adept SCARA robot.
The location of the world coordinate system for other robots and motion devices depends on the kinematic model of the motion device. For example, the second robot in the figure Omron Adept Robot Cartesian Space shows the world coordinate frame for a robot built on the Cartesian coordinate model. See the kinematic device module documents for your particular motion device. When a transformation is defined, a local reference frame is created at the X, Y, Z location with all three local frame axes parallel to the world coordinate frame. The figure XYZ Elements of a Transformation shows the first part of a transformation.
This transformation has the value X = 30, Y = 100, Z = 125, yaw = 0, pitch = 0, and roll = 0. eV+Language User's Guide, v2.x, 18318-000 Rev A Page 103