202206261124/V0.1
3 Product Overview
xMate CR12Hardware Installation Manual
13
protection device
3
Power adapter and
cables
4
Other interfaces and
accessories
3.2.3
Definitions of rotation directions and coordinate systems
The flexible collaborative robot features 6 degrees of freedom, or 6 joints or axes (see Figure
4 for details). The definitions of axis rotation directions and coordinate systems are described
below.
Base coordinate system: The -X axis points in the outgoing cable direction of the base, and
the +Z axis in a direction perpendicular to the mounting surface. The Y axis is determined by
the right-hand rule.
Flange coordinate system: When the robot is in the zero pose, the +Z axis points in the
outward direction vertical to the flange surface, and the exit of the base is + X in the opposite
direction. The Y axis is determined by the right-hand rule.
Rotation axis directions: When the axes are in the zero position, the A1, A4 and A6 perform
forward rotation in the +Z direction of the base coordinate system, and the A2 in the +Y
direction, the A3, and A5 in the -Y direction.
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