Coordinate System

The origin point is where the Manipulator’s installation face intersects with the rotation axis of Joint #1.

For details on the coordinate system, refer to the Epson RC+ Users Guide manual.

Table top mounting	Ceiling mounting

BASE setting is suitable for install the robot obliquely.

BASE setting can change a specific coordinate system of the robot and match the World coordinate system of the Jog & Teach and the coordinate system of the equipment.

For procedure of the BASE setting, refer to SPEL+ Language Reference: BASE Command.

With BASE setting	Without BASE setting