ABB IRBT 2005 Product Manual page 137

Mirrored cable chain
IRB in line 0° 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
Z
X
WORLD
Y
xx1500000927
• Positive travel direction x in World coordinates
• Mirrored travel direction
Z
X
WORLD
Y
xx1500000927
• Positive travel direction x in World coordinates
• Mirrored travel direction
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2 Installation and commissioning
2.7.4.2 Configuration examples
xx1500000631
Robot (ROB_1)
1
0
0
0
0
-
xx1500000632
Robot (ROB_1)
0.707107
0
0
0.707107
1.570796
-
Continued
Track motion (TRACK_1)
1
0
0
0
-
track1-lin
Track motion (TRACK_1)
1
0
0
0
-
track1-lin
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137