Configuration of effector coordinate system(ECS)

For the definition of an effector coordinate system (ECS) the Z (effector) axis is usually determined based on the tool orientation. The positions of the X and Y (effector) axes are based on the following parameter settings. Please note that the ECS system is defined in a way, that the Z component of the direction vector of the resulting third axis always points in positive direction of the cartesian machine coordinate system.