Dobot CR Series User Guide
Issue V1.1 (2023-04-27) 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, as shown
in Figure 4.3.
Figure 4.3 Tool coordinate system
Home posture
When the robot arm is in the vertical state shown in Figure 4.1, the angle of all joints is 0
degrees. This posture is called the home posture. The home-point stickers as shown in Figure 4.4
are attached to each joint of the robot arm. When the joint is 0 degree, the stickers on both sides of
the joint will be aligned.
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