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  • 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    Withdrawn A Withdrawn Standard is one, which is removed from sale, and its unique number can no longer be used. The Standard can be withdrawn and not replaced, or it can be withdrawn and replaced by a Standard with a different number.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

    Available format(s): 

    Withdrawn date:  03-01-2012

    Language(s): 

    Published date:  12-01-2013

    Publisher:  Comite Europeen de Normalisation

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    Table of Contents - (Show below) - (Hide below)

    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

    Abstract - (Show below) - (Hide below)

    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.

    General Product Information - (Show below) - (Hide below)

    Committee TC 310
    Development Note Supersedes EN 29787. (10/1999)
    Document Type Standard
    Publisher Comite Europeen de Normalisation
    Status Withdrawn
    Supersedes

    Standards Referenced By This Book - (Show below) - (Hide below)

    I.S. EN ISO 9946:1999 MANIPULATING INDUSTRIAL ROBOTS - PRESENTATION OF CHARACTERISTICS
    BS EN ISO 14539:2001 Manipulating industrial robots. Object handling with grasp-type grippers. Vocabulary and presentation of characteristics
    EN ISO 9946:1999 MANIPULATING INDUSTRIAL ROBOTS - PRESENTATION OF CHARACTERISTICS

    Standards Referencing This Book - (Show below) - (Hide below)

    ISO 9946:1999 Manipulating industrial robots Presentation of characteristics
    ISO 9283:1998 Manipulating industrial robots Performance criteria and related test methods
    ISO 14539:2000 Manipulating industrial robots Object handling with grasp-type grippers Vocabulary and presentation of characteristics
    ISO 8373:1994 Manipulating industrial robots — Vocabulary
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