Absolute accuracy parameters

Hi all,

I have absolute accuracy robots and I need to calculate forward kinematics by myself because we are using our software for building trajectories. Robot has parameters like error_offset_z, error_roll, etc. for each link.

But I don't know coordinate systems for robot links. I get DH modified parameters from RobotStudio PIM.xml for building coordinate systems. I draw CS for 4 links and understand that errors not in these coordinate systems.
I also tried to use equal CS (z - up, x - forward) for all links but it also is wrong.

Can you help me to understand which coordinate systems are used for each link correction: rob1_1, ..., rob1_6?
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