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Pally general - Coordinate system

Pally general - Coordinate system

Owned by Roger Almaas
Last updated: Mar 10, 2025
2 min read

Pally uses the Tool connector of the robot to define the coordinate system.

The tool connector should point down the conveyor.

For Universal Robot this is the Tool connector

Blue Tool connector gripper-01.png

For Doosan this is the X2 tool connector

connector-gripper.png

When the tool connector points down the conveyor; Y direction is down the conveyor and X direction is across the conveyor.

image-20250310-135826.png

When the connector points down the conveyor, length and width of both product and gripper are the same direction.

Box length width-01.png

Independet of the direction of the conveyor (front, left or right) the coordinate system should always follow the conveyor. The tool connector should always point down the conveyor