Configuration Examples - ABB IRBT 2005 Product Manual

2.7.4.2 Configuration examples

Standard cable chain
IRB 0° (in line) in relation to the World coordinate system
0 degrees (in
line)
Parameter
Base Frame q1
Base Frame q2
Base Frame q3
Base Frame q4
Gamma Rotation
Use Joint
IRB rotated 90° in relation to the World coordinate system
+90 degrees
Parameter
Base Frame q1
Base Frame q2
Base Frame q3
Base Frame q4
Gamma Rotation
Use Joint
Product manual - IRBT 2005
3HAC051130-001 Revision: F
xx1400001911
• Positive travel direction x in World coordinates
• Standard travel direction
xx1400001912
• Positive travel direction x in World coordinates
• Standard travel direction
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2 Installation and commissioning
2.7.4.2 Configuration examples
Robot (ROB_1)
1
0
0
0
0
-
Robot (ROB_1)
0.707107
0
0
0.707107
1.570796
-
Y
WORLD
Z
xx1500000928
Track motion (TRACK_1)
1
0
0
0
-
track1
Y
WORLD
Z
xx1500000928
Track motion (TRACK_1)
1
0
0
0
-
track1
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X
X
135