Dual track configuration Wobj0, track-lin and Gamma rotation

Regi_Love

Hi,

Could someone help me understand the two parameters listed in the title. I am completing this in Robot Studio and would like to know the recommended method.

Would the base frame of the robot be in line with the track or always maintained with the relation to the foot of the robot?

The -lin that is shown with the track is this required for the movement of the robot, as in the relationship between the robot and the positive motion of the joint?

Also the Gamma rotation, is this a rotation for the base of the robot in relation to the track mounting point?

Shown in the manual as "Gamma Rotation defines the orientation of the robot foot on the travel carriage."

Any information is greately appreciated.

Thanks

Regi