A coordinate system attached to the mechanical interface of the robot, whose origin is located on the surface of the mechanical interface and whose orientation is determined by the manufacturer
Pinnacle Systems, Inc. (Safety Sensors and Controls for Industrial Machine Guarding Systems), Safety Glossary, Pittsburgh, Pennsylvania, USA 2014. http://www.pinnaclesystems.com/Glossary-B-I.html, (Ergo - Amer) {759}