ABB IRB 14000 - Page 30

Note
Note that axis 7 is located between axis 2 and axis 3.
The base coordinate system
The base coordinate system has its zero point in the base of the robot.
When you are standing in front of the robot and jog in the base coordinate system,
pulling the joystick towards you will move the robot along the X axis, while moving
the joystick to the sides will move the robot along the Y axis. Twisting the joystick
will move the robot along the Z axis.
X
Z
Y
xx1500000007
30 Operating manual - IRB 14000
3HAC052986-001 Revision: E
© Copyright 2015-2018 ABB. All rights reserved.
3 Using the IRB 14000
3.1 Axes and coordinate systems
Continued