Robot Orientation On The Track - ABB FlexTrack IRT501 Series Product Manual

2.8.5 Robot orientation on the track

Introduction
To ensure that the robot works properly in linear on its track, it is necessary to
declare the robots orientation relative to the track.
The declaration of the orientation is in the MOC under the theme ROBOT in:
Robot aligned with the Track
xx1800001943
base_frame_orient_u0 = 1
base_frame_orient_u1 = 0
base_frame_orient_u2 = 0
base_frame_orient_u3 = 0
Product manual - FlexTrack IRT501-66/66R/90/90R
3HAW050008590-001 Revision: C
• base_frame_orient_u0 which corresponds to the quaternion Q1
• base_frame_orient_u1 which corresponds to the quaternion Q2
• base_frame_orient_u2 which corresponds to the quaternion Q3
• base_frame_orient_u3 which corresponds to the quaternion Q4
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2 Installation and commissioning
2.8.5 Robot orientation on the track
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