I need to make some modifications to a wall-mounted (X+ pointing down) KR6R900 C4SR FLR, with only the backup to work from, and realized I've never actually done a wall-mounted robot before. So, two quick questions:
1. Where is the $MACHINE.DAT setting that tells the robot the angle between gravity and $ROBROOT, for load calculation? Or does it care?
2. For a wall-mounted robot, does $WORLD become disconnected from $ROBROOT, as on a Ceiling-mounted robot or a robot mounted on an external axis? And where would that setting be?
In the past, when I've done Ceiling-mount KRs, $ROBROOT was inverted (C 180). But looking at $ROBROOT in this KR6's backup, it's all 0s. Since this robot has already been in production for a few years, and I'm only supposed to add a station, I'm not planning on tampering with the MADA. But I am a bit confused (and concerned) by the fact that this robot seems to think it's floor-mounted.