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Robot Setup
ABB Robot
Axis 4 Wrist
Axis 3 Arm -
-
- -
+
+
Axis 6 Turn
+
Axis 5 Bend +
Axis 2 Arm
-
- Current position:
Axis 1 = 0°
Axis 2 = 0°
+ + Axis 3 = 0°
Axis 4 = 0°
Axis 1 Rotation
Axis 5 = 0°
Axis 6 = 0°
The ABB robot world workplane is positioned at the intersection of axis one and the robot base.
When all axes are at their 0° position, the robot looks like the pictures below.
The default orientation of the 6th axis default orientation is shown below.
Y
X
A tool workplane is called “Tool Data” (tooldata). ABB uses Quaternion angles to define the tool
workplane orientation, from the 6th axis (flange) workplane.
- First, move along X, Y and Z axes (from the 6th axis workplane).
- Then rotate Z, then Y, and X around the transformed workplane, to get the desired Euler
orientation. Then use the calculator to get the four quaternion values.
Below is an example definition of the ABB Tool Data (coordinates only, called tAutodesk0):
X = + 229.62 mm
Y = 0 mm
Z = + 100 mm
229.62mm
100mm
5.2 …Then Rotate…
Rz = 0°
Ry’ = - 90°
Rx” = 0°
Using the “Transformation converter” tool (which can convert “ZYX rotary” Euler angles), the
rotation of -90° around the Y axis can be converted to Quaternion values (Q1, Q2, Q3, Q4).
A part origin workplane is called “Work Object Data” (wobjdata). ABB uses Quaternion angles to
define the part origin workplane orientation from the robot world workplane.
The method of defining a part origin workplane is similar to defining a tool workplane. However, the
reference of the coordinates is the robot world workplane instead of the robot 6th axis workplane.
X
Y
When an ABB robot has the part on the robot and the spindle (cutting tool) on the table, some flags
are set in the "Tool Data" and the "Work Object Data". In both cases (tool-on-robot and part-on-
robot), the "Tool Data" is the real cutting tool and the "Work Object Data" the part origin workplane.
Below are two examples where the cutting tool is held by the robot and one where the part is held
by the robot:
8. Miscellaneous
In ABB Rapid language (MOD files), the default unit of speed is millimetres per second: mm/s.
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