Arm-Angle Reference Direction - ABB IRB 14000 Operating Manual

5 System parameters

5.3.5 Arm-Angle Reference Direction

5.3.5 Arm-Angle Reference Direction
Parent
Arm-Angle Reference Direction belongs to the type Robot, in the topic Motion.
Cfg name
arm_angle_ref_dir
Description
Arm-Angle Reference Direction controls how the arm-angle property is calculated
and affects the location of certain singularities for seven-axis robots.
Usage
In addition to position and orientation, seven-axis robots also depend on the
arm-angle concept to fully specify a robtarget.
The calculation of the arm-angle depends on a chosen reference direction, and by
default this reference direction is chosen as the line passing through axis 2 origin
of the robot and being parallel with the Y-axis of the world frame. When the WCP
is on the axis chosen as the reference direction, the arm-angle becomes undefined.
Hence, the inverse kinematics is singular for all positions with the WCP on the line,
and linear movement on and across this line will not work.
If linear movement in this area of the workspace is important for your application,
then you can configure the robot to use another reference direction. The choices
available are: the world Y-axis, the world Z-axis, and the line passing through axis
1 of the robot.
Allowed values
Arm-Angle Reference Direction can have the following values:
Value:
0
1
2
The default value is 0.
Related information
Operating manual - IRB 14000
64
Note
A RAPID program created with one value for this parameter will behave differently
or maybe not work at all if the parameter value is changed.
Name: Description:
World Y Reference direction parallel with the Y-axis of the world frame.
World Z Reference direction parallel with the Z-axis of the world frame.
Axis 1 Reference direction parallel with a line passing through axis 1 of the
robot.
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Operating manual - IRB 14000
3HAC052986-001 Revision: E