ABB IRB 1010 User Manual

Examples of mounting angles tilted around the Y axis (Gravity Beta)
xx2200000482
Floor mountedPos 1
Mounting angle 180° (Suspended)Pos 2
Examples of mounting angles tilted around the X axis (Gravity Alpha)
The following illustration shows the IRB 120, but the same principle applies for all
robots.
0°
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Gravity AlphaMounting angle
00° (Floor mounted)
Note
For suspended robots (180°), it is recommended to use Gravity Beta instead of
Gravity Alpha.
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.
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Product manual - IRB 1010 59
3HAC081964-001 Revision: B
© Copyright 2022 ABB. All rights reserved.
3 Installation and commissioning
3.3.4 Setting the system parameters for an inverted or a tilted robot
Continued

ABB IRB 1010 Specifications

General

Brand	ABB
Model	IRB 1010
Category	Robotics
Language	English