Verifying the Coordinate System of the Robot

Step	Action
1	Slowly move the robot in manual mode in the direction of an axis of the coordinate system.
2	Verify that the robot moves in a straight line in the direction of the axis.
3	Verify that the robot moves in a straight line in a positive or negative direction of the coordinate system. NOTE: Arm of axis A is the cartesian coordinate X if coordinate system is not rotated by transformations variable `i_lrRotationAngle`.
4	Repeat the process for all axes of the coordinate system.

In case the robot does not move in a straight line on the path, proceed as follows:

Step	Action
1	Select the robot type when using the `SchneiderElectricRobotics` library.
2	When not using the `SchneiderElectricRobotics` library, verify the correct parameterization of the transformation and the axes.
3	Verify the calibration.
4	Verify the direction of rotation of all drives.
5	Calibrate the robot if required.

In case the robot moves along a straight line but not in the direction of the required coordinate system, proceed as follows:

Step	Action
1	Verify the definition of the coordinate system on the transformation.
2	Verify the definition of the motors in the correct sequence.