# Base coordinate system documentation

**URL:** <https://forum.universal-robots.com/t/base-coordinate-system-documentation/140>\
**Category:** URScript\
**Created:** [August 1, 2016, 12:46pm UTC](https://forum.universal-robots.com/t/base-coordinate-system-documentation/140 "2016-08-01T12:46:49Z")\
**Posts on this page:** 1\
**Showing post:** 2

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**Author:** ![jbm](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/jbm/32/614_2.png) [@jbm](https://forum.universal-robots.com/u/jbm)\
**Post date:** [August 1, 2016, 1:53pm UTC](https://forum.universal-robots.com/t/base-coordinate-system-documentation/140/2 "2016-08-01T13:53:29Z")

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@anon43982785,

**Base coordinate system / Base feature:**  
Right-hand coordinate system, where Y is into the robot cable and Z-axis upwards through the centre of the Base joint.

 ![](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/1X/71730abd07b38b646c8e04837e313042631533ed.jpg)

**Tool coordinate system / Tool feature**  
Right-hand coordinate system, where Y is away from the Tool connector, and Z is normal to the tool flange.

 ![](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/1X/1b7c74657a3b5377efcd28533b5ec8741f3f6220.jpg)

However, if there is a TCP offset defined, the Tool feature will be transformed by this offset, thus e.g.:

 ![](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/1X/a6e808fe2c451eada82cbce3df945910d3103b33.jpg)

All script code moves or similar will have respect to the Base feature.

If you go to the Installation tab, choose Features \> Base, and tick “Show axes”, then you will be able to see the Base coordinate system of the robot.  
Then you can e.g. see it in the Move-tab.

 ![](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/1X/3841cfa4879c0cea980ef6976a3c83d1d9001495.jpg)

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