ABB IRBT 2005 - Mounting of Manipulator on the Track

2.5.2 Mounting of manipulator on the track
General
The manipulator can be mounted in four directions, 0 degrees (in line), 90 degrees,
180 degrees, and 270 degrees with the cable chain standard or mirrored. Other
mounting orientations are not allowed. The world coordinate system is shown in
the following figures.
Robot orientation with standard cable chain
Following figures illustrate the manipulator mounted in different directions with the
standard cable chain.
The positive X direction is the positive motion direction of the track. The positive
Y direction is the direction of the cabling outlet on the carriage.
Y
Z
X
WORLD
xx1500000928
xx1400001911
0 degrees (in
line)
Y
Z
X
WORLD
xx1500000928
xx1400001912
+90 degrees
Y
Z
X
WORLD
xx1500000928
xx1400001909
+180 degrees
Y
Z
X
WORLD
xx1500000928
xx1400001910
+270 degrees
Continues on next page
110 Product manual - IRBT 2005
3HAC051130-001 Revision: F
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2 Installation and commissioning
2.5.2 Mounting of manipulator on the track