ABB CRB 1100, Product Manual

Page: 61 / 720

The Gravity Alpha is a positive rotation direction around the x-axis in the base
coordinate system. The value is set in radians.
Note
The system parameter Gravity Alpha is not supported for all robot types.
If the robot does not support Gravity Alpha , then use Gravity Beta along with the
re-calibration of axis 1 to define the rotation of the robot around the x-axis.
Note
The parameter is supported for all robots on track when the system parameter
7 axes high performance motion is set, see Technical reference manual - System
parameters .
Gamma Rotation
Gamma Rotation defines the orientation of the robot foot on the travel carriage
(track motion).
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 Beta Mounting angle (A°) Example of position
0.000000 (Default) 0° Floor mounted
1.570796 90° Wall mounted
3.141593 180° Inverted mounting
Continues on next page
Product manual - CRB 1100 61
3HAC078007-001 Revision: J
© Copyright 2021-2023 ABB. All rights reserved.
3 Installation and commissioning
3.3.4 Setting the system parameters for an inverted or a tilted robot
Continued