# Home2D

Home2D is the base reference space in which all other coordinate spaces and their relationships are described. Home2D is defined by the initial position of the motion stage; the initial position is the Home position, where (X,Y,Theta) = (0,0,0). Home2D is defined by the X axis of the motion stage and the motion stage's center of rotation. The origin is at the stage's center of rotation when the stage is at the home position. The X axis of Home2D is perfectly aligned with the motion stage's X axis. The Y axis of Home2D is exactly 90 degrees from the X axis and in the general direction of the motion stage's Y axis.

Home2D is the base coordinate space of the motion system.

The following figure shows the Home2D coordinate space in red in the case of stationary camera configuration.

The following figure shows the Home2D coordinate space in red in the case of moving camera configuration.