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SNV
SN EN ISO 9787 : 2000

SN EN ISO 9787 : 2000

Current

Current

The latest, up-to-date edition.

MANIPULATING INDUSTRIAL ROBOTS - COORDINATE SYSTEMS AND MOTION NOMENCLATURES

Published date

01-12-2013

Publisher

Swiss Standards

1 Scope
2 Normative references
3 Definitions
4 Defined coordinate systems and rotations
5 World coordinate system
6 Base coordinate system
7 Mechanical interface coordinate system
8 Tool coordinate system (TCS)
9 Robot motions
10 Robot axis nomenclature
Annex A (informative) Examples of application for
                      different mechanical structures

Specifies and defines robot coordinate systems. Also gives a nomenclature including notation for the basic robot motions and is intended to aid in robot programming, alignment and testing. Applies to all manipulating industrial robots as specified in ISO 8373. In cases where there is no risk of confusion, nomenclatures or subscripts other than those specified in this International Standard may be used.

DevelopmentNote
Supersedes SNV DIN EN 29787. (11/2011)
DocumentType
Standard
PublisherName
Swiss Standards
Status
Current

Standards Relationship
EN ISO 9787:1999 Identical
DIN EN ISO 9787 E : 2000 Identical
BS EN ISO 9787:1999 Identical
UNI EN ISO 9787 : 1999 Identical
DIN EN ISO 9787:2000-07 Identical
NFE 61 101 : 1988 Identical

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