ABB IRBT 2005 - Page 137

Mirrored cable chain
IRB in line 0° in relation to the World coordinate system
xx1500000631
Y
Z
X
WORLD
xx1500000927
0 degrees (in
line)
• Positive travel direction x in World coordinates
• Mirrored 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-lin-Use Joint
IRB rotated 90° in relation to the World coordinate system
xx1500000632
Y
Z
X
WORLD
xx1500000927
+90 degrees
• Positive travel direction x in World coordinates
• Mirrored 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-lin-Use Joint
Continues on next page
Product manual - IRBT 2005 137
3HAC051130-001 Revision: F
© Copyright 2015 - 2018 ABB. All rights reserved.
2 Installation and commissioning
2.7.4.2 Configuration examples
Continued