ABB IRB 2000 User Manual

4.3.2 Movements
The operator programs a pattern of movements as a number of subsidiary
movements between required positions (point-to-point programming). Each
position is programmed by the operator moving the robot to the desired position
manually. A specific point, known as the work point or the Tool Centre Point
(TCP) moves relative to the robot in a well defined manner. The TCP can be
defined in any selected position and the system can store a number of different
TCPs in its memory.
The operator performs manual operation by using a joystick with three degrees of
freedom. The speed depends on the joystick deflection.
Manual operation
During manual operation the robot axes are able to move in the following
coordinate systems:
• Rectangular base-oriented coordinate system (fixed coordinate system)
• Axis-oriented robot coordinate system (fixed coordinate system)
Rectangular wrist-oriented coordinate system (moving coordinate system)
TCP.
L J
Rectangular tool-oriented coordinate system (moving coordinate system)
TCL
TCL
Description
1KB 2000
18

ABB IRB 2000 Specifications

General

Brand	ABB
Model	IRB 2000
Category	Industrial Equipment
Language	English