ABB机器人导轨设置

©Robotics-1-BaseFrameconfiguration,IRBontrack2009-09-01TrackMotionT4004/T6004/T7004©Robotics-2Standardcarriage,Irbinline0°xROBOT(Robot)BaseFrameq11BaseFrameq20BaseFrameq30BaseFrameq40GammaRotation0SINGLE(Track)BaseFrameq11BaseFrameq20BaseFrameq30BaseFrameq40InWorldpositivetraveldirection,xPositivetracktransmission(JOINTtrack1)Calibrationpos0XYZWorld©Robotics-3Standardcarriage,Irbrotated90°ROBOT(Robot)BaseFrameq10.707107BaseFrameq20BaseFrameq30BaseFrameq40.707107GammaRotation1.570796SINGLE(Track)BaseFrameq11BaseFrameq20BaseFrameq30BaseFrameq40InWorldpositivetraveldirection,xPositivetracktransmission(JOINTtrack1)xCalibrationpos0XYZWorld©Robotics-4Standardcarriage,Irbrotated180°xROBOT(Robot)BaseFrameq10BaseFrameq20BaseFrameq30BaseFrameq41GammaRotation3.141593SINGLE(Track)BaseFrameq11BaseFrameq20BaseFrameq30BaseFrameq40InWorldpositivetraveldirection,xPositivetracktransmission(JOINTtrack1)Calibrationpos0XYZWorld©Robotics-5Mirroredcarriage,Irbinline0°xROBOT(Robot)BaseFrameq11BaseFrameq20BaseFrameq30BaseFrameq40GammaRotation0SINGLE(Track)BaseFrameq11BaseFrameq20BaseFrameq30BaseFrameq40Calibrationpos0XYZWorldInWorldpositivetraveldirection,xNegativetracktransmission(JOINTtrack1-lin)©Robotics-6Mirroredcarriage,Irbrotated-90°xROBOT(Robot)BaseFrameq10.707107BaseFrameq20BaseFrameq30BaseFrameq4-0.707107GammaRotation-1.570796SINGLE(Track)BaseFrameq11BaseFrameq20BaseFrameq30BaseFrameq40Calibrationpos0XYZWorldInWorldpositivetraveldirection,xNegativetracktransmission(JOINTtrack1-lin)©Robotics-7Mirroredcarriage,Irbrotated-180°ROBOT(Robot)BaseFrameq10BaseFrameq20BaseFrameq30BaseFrameq41GammaRotation3.141593SINGLE(Track)BaseFrameq11BaseFrameq20BaseFrameq30BaseFrameq40xXYZWorldInWorldpositivetraveldirection,xNegativetracktransmission(JOINTtrack1-lin)Calibrationpos0©Robotics-8Standardcarriage,Irbinline0°(Dualcarrier)xROBOT(Robot)BaseFrameq10BaseFrameq20BaseFrameq30BaseFrameq41GammaRotation3.141593SINGLE(Track)BaseFrameq11BaseFrameq20BaseFrameq30BaseFrameq40InWorldpositivetraveldirection,xPositivetrackjogdirection,xNegativetracktransmission(JOINTtrack1-lin)Calibrationpos0XYZWorld©Robotics-9Standardcarriage,Irbrotated90°(Dualcarrier)ROBOT(Robot)BaseFrameq10.707107BaseFrameq20BaseFrameq30BaseFrameq4-0.707107GammaRotation-1.570796SINGLE(Track)BaseFrameq11BaseFrameq20BaseFrameq30BaseFrameq40InWorldpositivetraveldirection,xPositivetrackjogdirection,xNegativetracktransmission(JOINTtrack1-lin)Calibrationpos0XYZWorldx©Robotics-10Standardcarriage,Irbrotated180°(Dualcarrier)xROBOT(Robot)BaseFrameq11BaseFrameq20BaseFrameq30BaseFrameq40GammaRotation0SINGLE(Track)BaseFrameq11BaseFrameq20BaseFrameq30BaseFrameq40InWorldpositivetraveldirection,xPositivetrackjogdirection,xNegativetracktransmission(JOINTtrack1-lin)Calibrationpos0XYZWorld©Robotics-11Mirroredcarriage,Irbinline0°(Dualcarrier)ROBOT(Robot)BaseFrameq10BaseFrameq20BaseFrameq30BaseFrameq41GammaRotation3.141593SINGLE(Track)BaseFrameq11BaseFrameq20BaseFrameq30BaseFrameq40InWorldpositivetraveldirection,xPositivetrackjogdirection,xPositivetracktransmission(JOINTtrack1)Calibrationpos0XYZWorldx©Robotics-12Mirroredcarriage,Irbrotated-90°(Dualcarrier)ROBOT(Robot)BaseFrameq10.707107BaseFrameq20BaseFrameq30BaseFrameq40.707107GammaRotation1.570796SINGLE(Track)BaseFrameq11BaseFrameq20BaseFrameq30BaseFrameq40InWorldpositivetraveldirection,xPositivetrackjogdirection,xPositivetracktransmission(JOINTtrack1)Calibrationpos0xXYZWorld©Robotics-13Mirroredcarriage,Irbrotated-180°(Dualcarrier)ROBOT(Robot)BaseFrameq11BaseFrameq20BaseFrameq30BaseFrameq40GammaRotation0SINGLE(Track)BaseFrameq11BaseFrameq20BaseFrameq30BaseFrameq40InWorldpositivetraveldirection,xPositivetrackjogdirection,xPositivetracktransmission(JOINTtrack1)Calibrationpos0XYZWorldx©Robotics-14Standardcarriage,Irbinline0°(Dualcarrier)xROBOT(Robot)BaseFrameq11BaseFrameq20BaseFrameq30BaseFrameq40GammaRotation0SINGLE(Track)BaseFrameq10BaseFrameq20BaseFrameq30BaseFrameq41InWorldpositivetraveldirection,xPositivetrackjogdirection,-xNegativetracktransmission(JOINTtrack1-lin)Calibrationpos0XYZWorld©Robotics-15Standardcarriage,Irbrotated90°(Dualcarrier)ROBOT(Robot)BaseFrameq10.707107BaseFrameq20BaseFrameq30BaseFrameq40.707107GammaRotation1.570796SINGLE(Track)BaseFrameq10BaseFrameq20BaseFrameq30BaseFrameq41InWorldpositivetraveldirection,xPositivetrackjogdirection,-xNegativetracktransmission(JOINTtrack1-lin)Calibrationpos0xXYZWorld©Robotics-16Standardcarriage,Irbrotated180°(Dualcarrier)ROBOT(Robot)BaseFrameq10BaseFrameq20BaseFrameq30BaseFrameq41GammaRotation3.141593SINGLE(Track)BaseFrameq10BaseFrameq20BaseFrameq30BaseFrameq41InWorldpositivetraveldirection,xPositivetrackjogdirection,-xNegativetracktransmission(JOINTtrack1-lin)Calibrationpos0xXYZWorld