Dobot CR Series User Guide
Issue V1.1 (2023-04-27) User Guide Copyright © Yuejiang Technology Co., Ltd.
15
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 movable coordinate system which is used for representing
equipment like fixtures, workbenches. The origin and the orientations of axes can be defined based
on the site requirements to measure point data within the workspace and arrange tasks conveniently.
The default user coordinate system is determined based on the center point at the robot base, as
shown in Figure 4.2.
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