EN ISO 9787:1999
Withdrawn
A Withdrawn Standard is one, which is removed from sale, and its unique number can no longer be used. The Standard can be withdrawn and not replaced, or it can be withdrawn and replaced by a Standard with a different number.
Manipulating industrial robots - Coordinate systems and motion nomenclatures (ISO 9787:1999)
01-05-1999
04-01-2012
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
This International Standard defines and specifies robot co-ordinate systems. It also provides a nomenclature including notation for the basic robot motions. It is intended to aid in robot alignment, testing and programming. This International Standard applies to all manipulating industrial robots as defined in ISO 8373. In cases where there is no risk of confusion, nomenclatures or subscripts other than those specified in this Internationa Standard may be used.
| Committee |
CEN/TC 310
|
| DevelopmentNote |
Supersedes EN 29787. (10/1999)
|
| DocumentType |
Standard
|
| PublisherName |
Comite Europeen de Normalisation
|
| Status |
Withdrawn
|
| Supersedes |
| Standards | Relationship |
| NBN EN ISO 9787 : 1999 | Identical |
| ISO 9787:2013 | Identical |
| NF EN ISO 9787 : 1999 | Identical |
| NS EN ISO 9787 : 1ED 1999 | Identical |
| NEN EN ISO 9787 : 1999 | Identical |
| BS EN ISO 9787:1999 | Identical |
| PN EN ISO 9787 : 2003 | Identical |
| UNE-EN ISO 9787:1999 | Identical |
| DIN EN ISO 9787:2000-07 | Identical |