Examples of mounting angles tilted around the X axis (Gravity Alpha)
xx1500000532
Gravity AlphaMounting anglePos
00° (Floor mounted)1
0.78539845° (Tilted)2
1.57079690° (Wall)3
-1.570796-90° (Wall)4
Note
For suspended robots (180°), it is recommended to use Gravity Beta instead of
Gravity Alpha.
Defining the parameter in the IRC5 software
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.
How to calculate a new value is detailed in Mounting angles and values on page 77.
Continues on next page
78 Product manual - IRB 120
3HAC035728-001 Revision: N
© Copyright 2009-2017 ABB. All rights reserved.
2 Installation and commissioning
2.3.5 Setting the system parameters for a suspended or tilted robot
Continued
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