Base frame offsets
Robots report their tool-point position relative to their base frame (origin). The base frame of some brands may differ from the base frame (origin) of the virtual robot model. In that case, the base frame of the real robot needs to be offset by the difference between these frames (Z axis). This is done in the settings of the robotic controller, please refer to the Bin Picking Tutorial for the specific robot brand for more information.
Table below contains the offset value for each robot currently supported in the Bin Picking Studio.
Brand |
Model |
Z offset [mm] |
|---|---|---|
Fanuc |
ARC Mate 100iC/12 |
-450 |
Fanuc |
ARC Mate 100iD |
-450 |
Fanuc |
ARC Mate 100iD/10L |
-450 |
Fanuc |
ARC Mate 120iC |
-525 |
Fanuc |
CR-35iA |
-1180 |
Fanuc |
CR-35iB |
-668 |
Fanuc |
CR-7iA |
-457 |
Fanuc |
CR-7iA/L |
-457 |
Fanuc |
CRX-10iA |
-245 |
Fanuc |
CRX-10iA/L |
-245 |
Fanuc |
CRX-20iA/L |
-245 |
Fanuc |
CRX-25iA |
-370 |
Fanuc |
CRX-5ia |
-185 |
Fanuc |
LR-10iA/10 |
-400 |
Fanuc |
LR Mate 200iD |
-330 |
Fanuc |
LR Mate 200iD/4S |
-330 |
Fanuc |
LR Mate 200iD/7L |
-330 |
Fanuc |
M-1000iA |
-1050 |
Fanuc |
M-10iA/10M |
-450 |
Fanuc |
M-10iA/10MS |
-450 |
Fanuc |
M-10iA/10S |
-450 |
Fanuc |
M-10iA/12 |
-450 |
Fanuc |
M-10iA/12S |
-450 |
Fanuc |
M-10iA/7L |
-450 |
Fanuc |
M-10iA/8L |
-450 |
Fanuc |
M-10iD/8L |
-450 |
Fanuc |
M-10iD/12 |
-450 |
Fanuc |
M-20iA |
-525 |
Fanuc |
M-20iA/20M |
-525 |
Fanuc |
M-20iA/35M |
-525 |
Fanuc |
M-20iB/25 |
-650 |
Fanuc |
M-20iD/25 |
-425 |
Fanuc |
M-20iD/35 |
-425 |
Fanuc |
M-430iA/2P |
-410 |
Fanuc |
M-430iA/2PH |
-440 |
Fanuc |
M-710iC/12L |
-565 |
Fanuc |
M-710iC/20L |
-565 |
Fanuc |
M-710iC/45M |
-565 |
Fanuc |
M-710iC/50 |
-565 |
Fanuc |
M-710iC/50S |
-565 |
Fanuc |
M-900iA/260L |
-950 |
Fanuc |
M-900iA/600F |
-1000 |
Fanuc |
M-900iB/400L |
-940 |
Fanuc |
M-900iB/700 |
-940 |
Fanuc |
P-40iA |
-618 |
Fanuc |
R-1000iA/100F |
-450 |
Fanuc |
R-1000iA/100F IF |
-450 |
Fanuc |
R-2000iA/165F |
-670 |
Fanuc |
R-2000iA/165F |
-670 |
Fanuc |
R-2000iB/165F |
-670 |
Fanuc |
R-2000iB/210F |
-670 |
Fanuc |
R-2000iC/125L |
-670 |
Fanuc |
R-2000iC/165F |
-670 |
Fanuc |
R-2000iC/165R |
-670 |
Fanuc |
R-2000iC/210F |
-670 |
Fanuc |
R-2000iC/210F IF |
-670 |
Fanuc |
R-2000iC/210L |
-670 |
Fanuc |
R-2000iC/210L IF |
-670 |
Fanuc |
R-2000iC/270F |
-670 |
Fanuc |
R-2000iD/100FH |
-670 |
Fanuc |
R-2000iD/100FH IF |
-670 |
Kawasaki |
BA-006L |
-430 |
Kawasaki |
BX-100L |
-530 |
Kawasaki |
BX-200L |
-530 |
Kawasaki |
BX-200L-C011 |
-530 |
Kawasaki |
RS-003N |
-250 |
Kawasaki |
RS-005L |
-295 |
Kawasaki |
RS-005N |
-295 |
Kawasaki |
RS-006L |
-430 |
Kawasaki |
RS-007L |
-360 |
Kawasaki |
RS-007N |
-360 |
Kawasaki |
RS-010L |
-465 |
Kawasaki |
RS-010N |
-430 |
Kawasaki |
RS-013N |
-505 |
Kawasaki |
RS-015X |
-680 |
Kawasaki |
RS-020N |
-465 |
Kawasaki |
RS-025N |
-580 |
Kawasaki |
RS-030N |
-680 |
Kawasaki |
RS-050N |
-680 |
Kawasaki |
RS-080N |
-680 |
Kawasaki |
ZS-100U |
-530 |
Stäubli |
RX160 |
-550 |
Stäubli |
RX160L |
-550 |
Stäubli |
TX200 |
-642 |
Stäubli |
TX200L |
-642 |
Stäubli |
TX2-140 |
-550 |
Stäubli |
TX2-160 |
-550 |
Stäubli |
TX2-160L |
-550 |
Stäubli |
TX2-40 |
-320 |
Stäubli |
TX2-60 |
-375 |
Stäubli |
TX2-60L |
-375 |
Stäubli |
TX2-90 |
-478 |
Stäubli |
TX2-90L |
-478 |
Stäubli |
TX2-90XL |
-478 |
Stäubli |
TX40 |
-320 |
Stäubli |
TX60 |
-375 |
Stäubli |
TX60L |
-375 |
Stäubli |
TX90 |
-478 |
Stäubli |
TX90L |
-478 |
Stäubli |
TX90XL |
-478 |
Yaskawa |
GP12 |
-450 |
Yaskawa |
GP180 |
-650 |
Yaskawa |
GP180-120 |
-650 |
Yaskawa |
GP20 |
-505 |
Yaskawa |
GP215 |
-650 |
Yaskawa |
GP225 |
-650 |
Yaskawa |
GP25 |
-505 |
Yaskawa |
GP25-12 |
-505 |
Yaskawa |
GP35L |
-540 |
Yaskawa |
GP4 |
-330 |
Yaskawa |
GP50 |
-540 |
Yaskawa |
GP7 |
-330 |
Yaskawa |
GP70L |
-540 |
Yaskawa |
GP8 |
-330 |
Yaskawa |
GP88 |
-540 |
Yaskawa |
HC10 |
-275 |
Yaskawa |
HC10DT-A |
-275 |
Yaskawa |
HC10DT-B |
-275 |
Yaskawa |
HC20DTP |
-380 |
Yaskawa |
HC30PL |
-380 |
Yaskawa |
MA2010 |
-505 |
Yaskawa |
MH12 |
-450 |
Yaskawa |
MH24-10 |
-505 |
Yaskawa |
MH24 |
-505 |
Yaskawa |
MH3BM |
-350 |
Yaskawa |
MH3F |
-290 |
Yaskawa |
MH50-35 |
-540 |
Yaskawa |
MH50II-K00 |
-540 |
Yaskawa |
MH5LSII |
-330 |
Yaskawa |
MH5SII |
-330 |
Yaskawa |
MotoMINI |
-171 |
Yaskawa |
SP180H |
-650 |