ABB IRBT 2005 User Manual

2.7.4.2 Configuration examples
Standard cable chain
IRB 0° (in line) in relation to the World coordinate system
Y
Z
X
WORLD
xx1500000928
xx1400001911
0 degrees (in
line)
• Positive travel direction x in World coordinates
• Standard travel direction
Track motion (TRACK_1)Robot (ROB_1)Parameter
11Base Frame q1
00Base Frame q2
00Base Frame q3
00Base Frame q4
-0Gamma Rotation
track1-Use Joint
IRB rotated 90° in relation to the World coordinate system
Y
Z
X
WORLD
xx1500000928
xx1400001912
+90 degrees
• Positive travel direction x in World coordinates
• Standard travel direction
Track motion (TRACK_1)Robot (ROB_1)Parameter
10.707107Base Frame q1
00Base Frame q2
00Base Frame q3
00.707107Base Frame q4
-1.570796Gamma Rotation
track1-Use Joint
Continues on next page
Product manual - IRBT 2005 135
3HAC051130-001 Revision: F
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2 Installation and commissioning
2.7.4.2 Configuration examples

ABB IRBT 2005 Specifications

General

Brand	ABB
Model	IRBT 2005
Category	Robotics
Language	English