When mounting a Fairino robot on a wall, ceiling, or any non-standard orientation (inverted, angled), the Cartesian coordinates don't automatically adjust. Commands like MoveCart will move in unexpected directions. Here's how to fix it properly.
The confusion: Mounting vs Workpiece coordinates
This is the #1 source of confusion for non-standard mounting. There are two separate settings that people mix up:
| Setting | Location | What it does |
| Mounting position | Initial → Base → Mounting | Only affects gravity compensation during manual dragging. Does NOT change programmed movement directions. |
| Workpiece coordinates | Initial → Base → Workpiece | Actually changes the coordinate system for MoveCart and all Cartesian commands. This is what you need. |
Step-by-step fix
- Set Mounting first (for accurate drag mode):
- Go to Initial → Base → Mounting
- Select the correct physical orientation (wall, ceiling, angled)
- This ensures drag/jog mode feels natural and gravity compensation works correctly
- Set Workpiece coordinates (for programmed movements):
- Go to Initial → Base → Workpiece
- Keep X, Y, Z values at 0
- Adjust Rx, Ry, Rz rotation values to match your physical setup
- Example: for a wall mount with camera facing floor, adjust Ry so that Z in MoveCart corresponds to the physical vertical direction
- Test with slow manual movements before running any program. Verify that +X, +Y, +Z move in the directions you expect.
Fairino supports 99 workpiece coordinate systems
You're not limited to one WCS. You can define up to 99 different workpiece coordinate systems for different work areas, fixtures, or product variants. Switch between them in your program or via the UI.
After changing workpiece coordinates
- All existing program points need to be re-evaluated — they were taught relative to the old WCS
- Start with slow manual moves to verify directions
- If you're using the Python SDK, the SDK uses the robot's base coordinate system by default, not the workpiece coordinates — make sure to account for this in your code
Zero-point calibration in tight spaces
If the robot is mounted in a space where you can't physically reach the original zero positions for calibration: you can adjust one axis at a time via the maintenance menu (password-protected). Normally this calibration is done by the supplier before shipment, so end users shouldn't need to touch it. If you do need it, contact your distributor for the maintenance password.