Which four Cartesian frames does FS100 support for XYZ data?

• A. Robot, Base, World, and Tool
• B. Robot, Base, User, and World
• C. Robot, Base, User, and Tool
• D. Robot, Base, User, and World

Answer: (C)

FS100 uses four Cartesian frames to express XYZ coordinates, giving you flexibility to define positions in different reference contexts. The Robot frame is the robot’s own reference, useful for calculations anchored to the arm’s base configuration. The Base frame provides a fixed world-like reference tied to the robot base, so you can relate positions to the workcell. The User frame is a customizable frame you define to align with a fixture or part, making programming easier when you want coordinates that match the actual part orientation. The Tool frame is attached to the end effector, so commands expressed in tool coordinates move with the tip and orientation of the tool. These four frames cover typical needs for XYZ data, and therefore the combination Robot, Base, User, and Tool is the correct set. Other options often swap in a World frame, which FS100 doesn’t list as a separate Cartesian frame.