Dobot CR A Series User Guide
Issue V1.3 (2023-09-14) User Guide Copyright © Yuejiang Technology Co., Ltd.
14
Product Features
Coordinate system
Joint coordinate system
The joint coordinate system is determined based on all motion joints. All joints are rotating
joints, as shown in Figure 4.1.
Figure 4.1 Joint coordinate system
User coordinate system
The user coordinate system is a custom workpiece or workbench coordinate system. The origin
and the orientations of axes can be defined based on the site requirement to measure the points
within the workspace and arrange tasks conveniently. The default user coordinate system is
determined based on the center point of the robot base, and Y+ direction is the direction that the
heavy-duty socket faces, as shown in Figure 4.2.
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