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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
138
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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xx1500000633
Robot (ROB_1)
0
0
0
1
3.141593
-
xx1500000634
Robot (ROB_1)
0.707107
0
0
-0.707107
-1.570796
-
Track motion (TRACK_1)
1
0
0
0
-
track1-lin
Track motion (TRACK_1)
1
0
0
0
-
track1-lin
Product manual - IRBT 2005
3HAC051130-001 Revision: F
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