Mounting and Setting up Robot on an External Axis

RobertRobotStudio

Hi,

I am trying to setup a robot on an external axis slide correctly in RS . I have a robot backup from a robot that is in production, which I am using to create a system in RS.

In reality, the robot is mounted 90 degrees on the slide.
I can see in the MOC file there is a gamma rotation, see below:

#

ROBOT:

      -name "ROB_1" -use_robot_serial_number "rob_1"\

      -use_robot_type "ROB1_4600_2.50_20" -use_robot_calib "r1_uncalib"\

      -use_joint_0 "rob1_1" -use_joint_1 "rob1_2" -use_joint_2 "rob1_3"\

      -use_joint_3 "rob1_4" -use_joint_4 "rob1_5" -use_joint_5 "rob1_6"\

      -base_frame_coordinated "M7DM1" -gamma_rotation -1.5708 -base_mass 57.2\

      -base_mass_centre_x -0.0614 -base_mass_centre_y 0.0019\

      -base_mass_centre_z 0.0916 -use_lin_jog "ROB1" -use_reorient_jog "ROB1"\

      -use_joint_jog "ROB1"\

      -use_motion_process_mode "rob1_optimal_cycle_time_mode"

#

What I am not sure about is whether this gamma rotation shown above, is this rotating the Base Frame of the track to align with the Base Frame of the robot or is the Base Frame of the robot rotated to align with the Base Frame of the  external axis/slide?

Thanks