# Teaching coordinates

The coordinates shown in certain preset fields must accurately reflect the reality of your cell for trajectory calculation to make sense. Therefore, each coordinate value entered in a preset must match the value shown by the controller interface for that specific field.

Coordinate teaching must comply with the following requirements:

• Coordinates must always be robot World/Base coordinates.
• The robot World/Base coordinate system must not be modified.
• There must be no planes/frames of reference that alter the obtained data.
• The tool reference system (TCP) must be the reference, centered on the robot flange.
• The flange must be parallel to the coordinate system.
• The reference element used during data capture must be centered on the robot flange and perpendicular to the reference system (no tilt).
• The data to be captured will be the Cartesian coordinates X, Y, Z, and Rz. The latter represents the rotation of the axis integrated into the flange and must be parallel to the ground.
• Once the robot is positioned at the desired location, the coordinate is obtained from the corresponding section of the controller interface (Teach).