Which statement best describes the relationship between the Base/World frame and the Tool frame in a FANUC robot?

• A. The Tool frame moves with the end effector; the Base/World frame is fixed.
• B. The Base/World frame is a fixed reference for the robot; the Tool frame moves with the end effector.
• C. A fixed Tool frame and a moving World frame are used for all tasks.
• D. The World frame is the only reference used for programming.

Answer: (B)

In FANUC robots, you work with a fixed reference frame and a moving tool frame. The Base or World frame is attached to the robot base and stays put, providing a stable reference for all positions and orientations in the workspace. The Tool frame is attached to the end effector and travels with it as the arm moves, defining where the tool is relative to that fixed base frame.

This setup lets the controller express the tool’s pose in the fixed base coordinates and compute the necessary joint movements to reach or track that pose. So describing the Base/World frame as fixed and the Tool frame as moving with the end effector accurately captures how frames are used in programming and motion.

Other options mix up the motion relationship, implying the tool frame is fixed or that the world frame alone is always used, which doesn’t align with how the tool’s pose is defined relative to a stable base reference.