# Direction of rotation

These were used for matching the rotation directions of the internal robot model in the kinematic transformation to the physical rotation directions of the actual robot. In default position, all the articulated axes in zero position of the robot rotate around the Cartesian y axis in a mathematically positive direction.

List parameters | Meaning
kinematik[45].param[20] | Rotation direction of C axis 1, 0: positive, 1: negative
kinematik[45].param[21] | Rotation direction of C axis 2, 0: positive, 1: negative
kinematik[45].param[22] | Rotation direction of C axis 3, 0: positive, 1: negative
kinematik[45].param[23] | Rotation direction of C axis 4, 0: positive, 1: negative
kinematik[45].param[24] | Rotation direction of C axis 5, 0: positive, 1: negative
kinematik[45].param[25] | Rotation direction of C axis 6, 0: positive, 1: negative