ABB IRB 120 - Page 77

Mounting angles and values
The parameter Gravity Beta (or Gravity Alpha) specifies the mounting angle of the
robot in radians. It is calculated in the following way.
Gravity Beta = A° x 3.141593/180 = B radians, where A is the mounting
angle in degrees and B is the mounting angle in radians.
Gravity BetaMounting angle (A°)Example of position
0.000000 (Default)0°Floor mounted
1.57079690°Wall mounting
3.141593180°Suspended mounting
Examples of mounting angles tilted around the Y axis (Gravity Beta)
xx1000000126
Floor mountedPos 1
Mounting angle 45° (Tilted)Pos 2
Mounting angle 90° (Wall)Pos 3
Mounting angle 180° (Suspended)Pos 4
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Product manual - IRB 120 77
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2 Installation and commissioning
2.3.5 Setting the system parameters for a suspended or tilted robot
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