ABB IRB 4600 Foundry Prime - Page 68

Examples of mounting angles tilted around the X axis (Gravity Alpha)
xx1700000268
Tilted mounting, mounting angle 15°.-
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 66.
The system parameters are described in Technical reference manual - System
parameters.
The system parameters are redefined in the Configuration Editor, in RobotStudio
or on the FlexPendant.
68 Product manual - IRB 4600 Foundry Prime
3HAC040585-001 Revision: M
© Copyright 2013-2018 ABB. All rights reserved.
2 Installation and commissioning
2.4.3 Setting the system parameters for a suspended or tilted robot
Continued