UNI EN ISO 9787 : 1999

Superseded

Superseded A superseded Standard is one, which is fully replaced by another Standard, which is a new edition of the same Standard.

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MANIPULATING INDUSTRIAL ROBOTS - COORDINATE SYSTEMS AND MOTION NOMENCLATURES

Available format(s):

Superseded date: 30-10-2000

Language(s):

Published date: 31-12-1998

Publisher: Ente Nazionale Italiano di Unificazione (UNI)

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)

Development Note	Replaces UNI EN 29787 (05/2000)
Document Type	Standard
ISBN
Pages
Published
Publisher	Ente Nazionale Italiano di Unificazione (UNI)
Status	Superseded
Superseded By	UNI EN 1992-1-1 : 2005
Supersedes	UNI EN 29787 : 1993

International Equivalents – Equivalent Standard(s) & Relationship - (Show below) - (Hide below)

Equivalent Standard(s)	Relationship
NF EN ISO 9787 : 1999	Identical
EN ISO 9787:1999	Identical
NS EN ISO 9787 : 1ED 1999	Identical
NBN EN ISO 9787 : 1999	Identical
NEN EN ISO 9787 : 1999	Identical
BS EN ISO 9787:1999	Identical
ISO 9787:2013	Identical
SN EN ISO 9787 : 2000	Identical
DIN EN ISO 9787 E : 2000	Identical
DIN EN ISO 9787:2000-07	Identical

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