ABB IRB 6620 - 150/2.2 - Page 74

2 Installation and commissioning
2.5.7. Suspended mounting
3HAC027151-001 Revision: B72
© Copyright 2006-2008 ABB. All rights reserved.
Mounting angles and values
The parameter “gravity beta” specifies the robot’s mounting angle in radians. It is calculated
in the following way for a mounting angle of 15°.
Gravity beta = 15° x 3.141593/180 = 0.261799 radians.
xx0600003144
Example of position Mounting angle Gravity beta
Floor (A) 0° 0.000000 (Default)
Tilted (B) 15° 0.261799
Suspended (C) 180° 3.141593
A Floor mounted
B Tilted mounting, mounting angle 15°.
C Suspended mounting, mounting angle 180°.
Continued
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