ABB IRBT 2005 - Page 136

IRB rotated 180° in relation to the World coordinate system
Y
Z
X
WORLD
xx1500000928
xx1400001909
+180 degrees
• Positive travel direction x in World coordinates
• Standard travel direction
Track motion (TRACK_1)Robot (ROB_1)Parameter
10Base Frame q1
00Base Frame q2
00Base Frame q3
01Base Frame q4
-3.141593Gamma Rotation
track1-Use Joint
IRB rotated 270° in relation to the World coordinate system
Y
Z
X
WORLD
xx1500000928
xx1400001910
+270 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
0-0.707107Base Frame q4
--1.570796Gamma Rotation
track1-Use Joint
Continues on next page
136 Product manual - IRBT 2005
3HAC051130-001 Revision: F
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2 Installation and commissioning
2.7.4.2 Configuration examples
Continued