Robot Base Coordinate System - ABB FlexMT Product Manual

3 Commissioning

3.5.1 Robot base coordinate system

3.5.1 Robot base coordinate system
The robot is mounted on an inclined pedestal for better reach and accessibility to
the machine tool. In order to simplify handling and jogging of the robot, the robot
base coordinate system shall be parallel to the floor (not angled), preferably with
either the X or Y axis parallel with the front of the machine tool.
The following values were changed in the robot configuration (cf. MOC.CFG) in
order to take inclination into account.
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• gravity_alpha, gravity_beta
• base_frame_orient_u0, base_frame_orient_u1,
base_frame_orient_u2, base_frame_orient_u3
• base_frame_x, base_frame_y, base_frame_z
DANGER
Do not change position or orientation of robot base coordinate system, as this
will affect the SafeMove configuration.
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3HAC051768-001 Revision: -