ABB IRBT 2005, Product Manual

Page: 133 / 290

2.7.4 Base frame configuration
2.7.4.1 Introduction
General
To ensure that the robot works properly in linear on its track motion, it is necessary
that the orientation of the robot relative to the track is properly declared.
If the customer installation differs from the default selections available in Installation
Manager it might be necessary to change the orientation of the robot relative to
the track according to the examples below, see
Configuration examples on page 135 .
Mounting directions
The manipulator can be mounted in four directions, in line, 90 degrees, 180 degrees
and 270 degrees with the cable chain standard or mirrored, shown in the following
figures. Other mounting orientations are not allowed.
For more information, see Mounting of manipulator on the track on page 110 .
System parameters
This is a brief description of the parameters used when configuring the base frame
for robots on track motion. For more information, see the respective parameter in
Technical reference manual - System parameters .
Robot
These parameters belongs to the type Robot in the topic Motion .
Description Parameter
Base Frame x,y,z defines the direction of the robot base frame pos-
ition in relation to the world frame (in meters).
Base Frame x
Base Frame y
Base Frame z
Base Frame q1-q4 defines the quaternions of the robot base frame
orientation in relation to the world frame.
Base Frame q1
Base Frame q2
Base Frame q3
Base Frame q4
Gamma Rotation defines the orientation of the robot foot on the
travel carriage.
Note
The Gamma Rotation parameter is useful only for robots on track
when the 7 axes high performance motion parameter is set. This
parameter is not used for all robot types.
Gamma Rotation
Single
These parameters belongs to the type Single in the topic Motion .
Description Parameter
Base Frame x,y,z defines the direction of the track motion base
frame position in relation to the world frame (in meters).
Base Frame x
Base Frame y
Base Frame z
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Product manual - IRBT 2005 133
3HAC051130-001 Revision: F
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2 Installation and commissioning
2.7.4.1 Introduction