Mitsubishi Electric MELFA BFP-A3614 Manual page 49

c) Coordinate system definition (mechanical interface)
The force sense coordinate system (mechanical interface) is defined as follows.
Force sense coordinate
system
(mechanical interface)
For the force sense coordinate system (mechanical interface), the positive direction is the one
in which the opposite force is applied when the robot moves to the positive direction in the
mechanical interface coordinate system.
The home position of the coordinate system overlaps the mechanical interface coordinate
system.
(The sign of force sense coordinate system is the reversed sign of the mechanical interface
coordinate system.)
Mechanical interface
coordinate system
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