Mitsubishi MELFA CR1D Instruction Manual page 391

*Vertical type
+Z
Definitions of Coordinate Axes
The tool coordinate is used for the coordinate axes.
Axes that must be set:
Only the X, Y and Z elements of the center of gravity and the X, Y
and Z elements of the size must be set.
*Horizontal type
+Z
+X
+Y
+X
6-axis type
+Y
Hand and Workpiece Conditions (optimum acceleration/deceleration settings) 5-378
Definitions of Coordinate Axes
In the coordinate system with the tip of
the J4 axis as the origin:
Z axis: The upward direction is positive.
X axis: The direction of extension in the
arm orientation is positive.
Y axis: A right hand coordinate system
Axes that must be set:
Only the X element of the center of
gravity and the X and Y elements of the
size must be set.
5Functions set with parameters