# Which is the correct angle orientation for ABB 7 Axis robot

**URL:** <https://tech-community.robotics.abb.com/t/which-is-the-correct-angle-orientation-for-abb-7-axis-robot/8240>\
**Category:** Robot Controller\
**Created:** [May 17, 2018, 1:58pm UTC](https://tech-community.robotics.abb.com/t/which-is-the-correct-angle-orientation-for-abb-7-axis-robot/8240 "2018-05-17T13:58:12Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![Vane](https://avatars.discourse-cdn.com/v4/letter/v/f1d935/32.png) [@Vane](https://tech-community.robotics.abb.com/u/Vane)\
**Post date:** [May 17, 2018, 1:58pm UTC](https://tech-community.robotics.abb.com/t/which-is-the-correct-angle-orientation-for-abb-7-axis-robot/8240/1 "2018-05-17T13:58:12Z")

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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!

 ![image.jpg](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/2X/4/4b2b42c1222a77a9ac4532ccb84626cabfd7ca68.jpeg)

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**Author:** ![lemster68](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/lemster68/32/1945_2.png) [@lemster68](https://tech-community.robotics.abb.com/u/lemster68)\
**Post date:** [May 17, 2018, 2:38pm UTC](https://tech-community.robotics.abb.com/t/which-is-the-correct-angle-orientation-for-abb-7-axis-robot/8240/2 "2018-05-17T14:38:10Z")

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