ABB CRB 15000 - Page 79

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Gravity AlphaMounting angle
00° (Floor mounted)
1.57079690° (Wall)
-1.570796-90° (Wall)
Note
For suspended robots (180°), it is recommended to use Gravity Beta instead of
Gravity Alpha.
Limitations in working area
If mounting the robot on a wall, the working range of axis 1 is limited. These
limitations are specified in the table Working range on page 52.
Defining the system parameters in RobotWare
The value of the system parameters that define the mounting angle must be
redefined when changing the mounting angle of the robot. The parameters belong
to the type Robot, in the topic Motion.
The system parameters are described in Technical reference manual - System
parameters.
The system parameters are configured in RobotStudio or on the FlexPendant.
Product manual - CRB 15000 79
3HAC077389-001 Revision: L
© Copyright 2021 - 2023 ABB. All rights reserved.
3 Installation and commissioning
3.3.6 Setting the system parameters for an inverted or a tilted robot
Continued