EN ISO 9787:1999

SLOVENSKI STANDARD
01-oktober-2003
1DGRPHãþD
SIST EN 29787:1998
Manipulirni industrijski roboti – Koordinatni sistemi in nomenklature gibov (ISO
9787:1999)
Manipulating industrial robots - Coordinate systems and motion nomenclatures (ISO
9787:1999)
Industrieroboter - Koordinatensysteme und Bewegungsnomenklaturen (ISO 9787:1999)
Robots manipulateurs industriels - Systemes de coordonnées et nomenclatures de
mouvements (ISO 9787:1999)
Ta slovenski standard je istoveten z: EN ISO 9787:1999
ICS:
25.040.30 Industrijski roboti. Industrial robots.
Manipulatorji Manipulators
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.

INTERNATIONAL ISO
STANDARD 9787
Second edition
1999-05-01
Manipulating industrial robots —
Coordinate systems and motion
nomenclatures
Robots manipulateurs industriels — Systèmes de coordonnées et
nomenclatures de mouvements
A
Reference number
ISO 9787:1999(E)
ISO 9787:1999(E)
Contents
1 Scope .1
2 Normative references .1
3 Definitions .1
4 Defined coordinate systems and rotations.1
5 World coordinate system.3
6 Base coordinate system.3
7 Mechanical interface coordinate system.5
8 Tool coordinate system (TCS).5
9 Robot motions .6
10 Robot axis nomenclature.6
Annex A (informative) Examples of application for different mechanical structures .7
©  ISO 1999
All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized in any form or by any means, electronic
or mechanical, including photocopying and microfilm, without permission in writing from the publisher.
International Organization for Standardization
Case postale 56 • CH-1211 Genève 20 • Switzerland
Internet iso@iso.ch
Printed in Switzerland
ii
© ISO
ISO 9787:1999(E)
Foreword
ISO (the International Organization for Standardization) is a worldwide federation of national standards bodies (ISO
member bodies). The work of preparing International Standards is normally carried out through ISO technical
committees. Each member body interested in a subject for which a technical committee has been established has
the right to be represented on that committee. International organizations, governmental and non-governmental, in
liaison with ISO, also take part in the work. ISO collaborates closely with the International Electrotechnical
Commission (IEC) on all matters of electrotechnical standardization.
International Standards are drafted in accordance with the rules given in the ISO/IEC Directives, Part 3.
Draft International Standards adopted by the technical committees are circulated to the member bodies for voting.
Publication as an International Standard requires approval by at least 75 % of the member bodies casting a vote.
International Standard ISO 9787 was prepared by Technical Committee ISO/TC 184, Industrial automation systems
and integration, Subcommittee SC 2, Robots for manufacturing environment.
This second edition cancels and replaces the first edition (ISO 9787:1990), of which it constitutes a technical
revision.
Annex A of this International Standard is for information only.
iii
© ISO
ISO 9787:1999(E)
Introduction
ISO 9787 is part of a series of International Standards dealing with manipulating industrial robots. Other
International Standards cover such topics as safety, general characteristics, performance criteria and related test
methods, terminology, and mechanical interfaces. It is noted that these standards are interrelated and are also
related to other International Standards.
Annex A (informative) of this International Standard provides examples of application for different mechanical
structures.
iv
INTERNATIONAL STANDARD  © ISO ISO 9787:1999(E)
Manipulating industrial robots — Coordinate systems and
motion nomenclatures
1 Scope
This International Standard defines and specifies robot coordinate 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
International Standard may be used.
2 Normative references
The following normative documents contain provisions which, through reference in this text, constitute provisions of
this International Standard. For
...