Arm-Angle Definition - ABB IRB 14000 Operating Manual

5.3.4 Arm-Angle Definition

Parent
Arm-Angle Definition belongs to the type Robot, in the topic Motion.
Cfg name
use_old_arm_angle_definition
Description
To completely specify the pose for a robot with 7 axes, an additional parameter
called arm-angle is needed.
The parameter Arm-Angle Definition controls how the arm-angle is defined.
Users are advised to always use the new arm-angle definition. The old definition
is kept only for backwards compatibility and can in some cases lead to non-optimal
movements of the robot.
Limitations
Arm-Angle Definition is only applicable for 7-axis robots.
Allowed values
New or Old.
The default value is New.
Related information
Operating manual - IRB 14000
Operating manual - IRB 14000
3HAC052986-001 Revision: E
Note
Arm-Angle Definition parameter is not supported in RW 6.07 or later versions.
© Copyright 2015-2018 ABB. All rights reserved.
5 System parameters
5.3.4 Arm-Angle Definition
63