ROKAE xMate ER7 - Definitions of Rotation Directions and Coordinate Systems

202208081959/V0.1
3 Product Overview
xMate ER7Hardware Installation Manual 11
No. Name
1 xMate ER7 robot system
2 Handheld safety
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 +Y axis in the Pilot midline
direction. The X 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, A3, and A5
in the +Y direction.