Hyundai HI4 operation manual Axis direction Rotation direction

2.Basic operation

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Reference

The following figure shows that how to determine the robot coordinate system. Stretch out left hand's three fingers ; thumb, point finger and middle finger at a right angle. It means that when the point finger's direction is aligned with Y-direction of robot coordinate, thumb's direction is pointing Z and point finger's direction is pointing X.

Z	<Reference>	+(X,Y,Z)
		R(X,Y,Z)+
	Forward direction
	Y

X

Axis direction Rotation direction

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