Hello,
I seem to have a problem when defining a coordinate system for a Reis robot. After defining a tool or a frame coordinate system, it seems to be a bit "crooked" - the X axis works fine, and the robot follows it correctly, but the Y axis is crooked and the robot escapes it... which would mean that the angle between the X and Y axes of the defined coorinate system is not equal to 90 degrees... weird.
observations so far:
1. no matter in which direction the frame coordinate system is defined, it is always the X axis that is fine, and Y that is crooked,
2. at first I thought that it may be to do with the definition of the tool coord. system, but after calibrating it again (6-point method), the frame coord. system still works the same,
3. mastering has been done recently too.
If anyone has any idea or a solution, all are welcome 
