ABB IRBT 2005 Product Manual page 136

2 Installation and commissioning
2.7.4.2 Configuration examples
Continued
IRB rotated 180° in relation to the World coordinate system
+180 degrees
Parameter
Base Frame q1
Base Frame q2
Base Frame q3
Base Frame q4
Gamma Rotation
Use Joint
IRB rotated 270° in relation to the World coordinate system
+270 degrees
Parameter
Base Frame q1
Base Frame q2
Base Frame q3
Base Frame q4
Gamma Rotation
Use Joint
Continues on next page
136
xx1400001909
• Positive travel direction x in World coordinates
• Standard travel direction
xx1400001910
• Positive travel direction x in World coordinates
• Standard travel direction
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Robot (ROB_1)
0
0
0
1
3.141593
-
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
Product manual - IRBT 2005
3HAC051130-001 Revision: F
X
X