ABB IRB 1600 - 5/1,2 type A - Page 56

2 Installation and commissioning
2.3.4. Suspended mounting
3HAC026660-001 Revision: C54
© Copyright 2006-2008 ABB. All rights reserved.
Defining the parameter
The value of the system parameter Gravity beta must be redefined when changing the
mounting angle of the robot. The parameter belongs to the type Robot, in the topic Motion.
How to calculate a new value is detailed in Mounting angles and values on page 52.
The parameter is further detailed in the Technical reference manual - System parameters.
The parameter can be edited either with the FlexPendant or in RobotStudio. Read about how
to change the parameter in the Operating manual - IRC5 with FlexPendant or in the
Operating manual - RobotStudio. Article numbers for the manuals are specified in References
on page 8.
Continued