Examples of mounting angles tilted around the X axis (Gravity Alpha)
The following illustration shows the IRB 120, but the same principle applies for all
robots.
xx1500000532
Gravity AlphaMounting anglePos
00° (Floor mounted)1
0.78539845° (Tilted)2
1.57079690° (Wall)3
-1.570796-90° (Wall)4
Note
For suspended robots (180°), it is recommended to use Gravity Beta instead of
Gravity Alpha.
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94 Product manual - IRB 6620
3HAC027151-001 Revision: T
© Copyright 2006-2018 ABB. All rights reserved.
2 Installation and commissioning
2.5.8 Setting the system parameters for a suspended or tilted robot
Continued
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