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 configured in RobotStudio or on the FlexPendant.
68
Product manual - IRB 4600
3HAC033453-001 Revision: Y
© Copyright 2009-2021 ABB. All rights reserved.
2 Installation and commissioning
2.3.5 Setting the system parameters for a suspended or tilted robot
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