Dobot CR A Series User Guide
Issue V1.3 (2023-09-14) User Guide Copyright © Yuejiang Technology Co., Ltd.
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Figure 4.2 User coordinate system
Tool coordinate system
The tool coordinate system defines the tool center point (TCP) and tool posture, of which the
origin and orientations vary with the position and angle of the workpiece at the end of robot. The
default tool coordinate system is determined based on the center point of the end flange. The Y+
direction is the opposite direction of the aviation socket, as shown in Figure 4.3.
Figure 4.3 Tool coordinate system
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