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
0.52359930ºTilted mounting
1.57079690°Wall mounting
3.141593180°Suspended mounting
Continues on next page
74 Product manual - IRB 1600/1660
3HAC026660-001 Revision: W
© Copyright 2006-2018 ABB. All rights reserved.
2 Installation and commissioning
2.3.5 Setting the system parameters for a suspended or tilted robot
Continued
To Next Page
Loading...
