Which is the correct angle orientation for ABB 7 Axis robot

Vane

Dear Experts


I have a 6700 robot with abb track. If the robot is installed as follow picture,

where is the wobj0 and  the orientation?

As I know wobj0 is under the 7th axis. But I have no idea about the orientation.


Thanks!

 

lemster68

Put the coordinate system into workobject with wobj0 active, and jog linear.  It should be the same as the robot base.