Coordinate-system setting system and coordinate-system setting method

A coordinate-system setting system comprising:

• a portable probe being capable of coming into contact with a tip portion of a robot, wherein the portable probe is separate from the robot and does not move together with the robot and wherein the portable probe is held by an operator;
• a 3D-shape measuring device for measuring contact locations of the portable probe;
• and
• a storage device that stores a 3D model of a tool mounted on the tip portion of the robot,
• wherein the 3D model includes information about an origin position serving as an origin of a coordinate system of the tool,
• the 3D-shape measuring device is configured to perform:
• position measurement processing which measures a position of the tip portion of the robot;
• and
• shape calculation processing which calculates a shape of the tool when the operator brings the portable probe into contact with the tool mounted on the tip portion a plurality of times, and
• the 3D-shape measuring device or a robot controller of the robot is configured to perform:
• difference calculation processing for calculating a difference between the calculated shape of the tool and a shape of the 3D model;
• and
• coordinate-system setting processing for setting the coordinate system of the tool relative to the measured position of the tip portion by shifting at least the origin position in the 3D model by using the calculated difference.