ABB IRB 5720 - Page 78

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
Corresponds to:Example:Tilted mounting
0.261799 rad15°
3.141593180°Inverted mounting
Defining the system parameters in RobotWare
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.
The system parameters are described in Technical reference manual - System
parameters.
The system parameters are configured in RobotStudio or on the FlexPendant.
78 Product manual - IRB 5720
3HAC079195-001 Revision: A
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3 Installation and commissioning
3.3.6 Setting the system parameters for an inverted or a tilted robot
Continued