> For the complete documentation index, see [llms.txt](https://captic-2.gitbook.io/docs/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://captic-2.gitbook.io/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/coordinate-conventions.md).

# Coordinate Conventions

The rotation conventions Captic supports, and which robot brands use each one.

Robot brands describe rotations differently, and each robot programming language expects poses in its own form. Captic supports the rotation conventions below, so coordinates arrive exactly as your robot program expects, whether your robot is connected natively, through a PLC or over OPC UA.

## Setting the convention

Select the convention for your robot brand in the Product UI settings at `http://[serial-number].local:3000/settings`. Do this **before** [calibrating](/docs/overview/hands-on/vision+robot-calibration.md): a wrong convention gives rotated or mirrored poses.

## Supported conventions

| Convention          | Brands                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          |
| ------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| **Fanuc (sxyz)**    | [Fanuc](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/fanuc.md), [Neura](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/neura.md), [Yaskawa](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/yaskawa-coming-soon.md), [Denso](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/denso.md), [Dobot](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/dobot.md), [AUBO](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/aubo.md), [Han's Robot](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/hans-robot.md), [JAKA](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/jaka.md), [MELFA](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/melfa.md), [FR](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/fr.md), [ROKAE](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/rokae.md), [SIASUN](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/siasun.md), [Techman Robot](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/techman-robot.md), [Elite Robots](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/elite-robots.md), [STEP](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/step.md), [Hyundai Robotics](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/hyundai-robotics.md), [Flexiv](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/flexiv.md), [Delta](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/delta.md), [TOPSTAR](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/topstar.md), [CGXI](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/cgxi.md) |
| **KUKA (rzyx)**     | [ABB](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/abb.md), [KUKA](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/kuka.md), [Nachi](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/nachi.md), [EFORT](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/efort.md), [Epson](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/epson.md), [ESTUN](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/estun.md), [Inovance](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/inovance.md)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            |
| **Comau (rzyz)**    | [Kawasaki](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/kawasaki.md), [QJAR](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/qjar.md), [Comau](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/comau.md), [Doosan](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/doosan.md)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    |
| **Stäubli (rxyz)**  | [TURIN](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/turin.md), [Stäubli](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/staubli.md), [ADT](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/adt.md)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    |
| **UR (axis-angle)** | [Universal Robots](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/universal-robots.md)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  |

In the convention names, the letters give the order of the rotation axes. **s** means the rotations are applied around the fixed (static) axes, **r** means they are applied around the rotating axes of the tool. **Axis-angle**, used by Universal Robots, describes a rotation as a single vector instead of three angles.

{% hint style="info" %}
Is your robot brand missing? Let us know at <support@captic.com>.
{% endhint %}