ABB IRB 4600 - 20/2.50, Product Manual

Page: 76 / 374

2.3.5 Setting the system parameters for a suspended robot
General
Initially the system is configured for mounting on the floor, without leaning. The
method for mounting the robot in a suspended position is basically the same as
for floor mounting.
Note
With suspended installation, make sure that the gantry or corresponding structure
is rigid enough to prevent unacceptable vibrations and deflections, so that
optimum performance can be achieved.
System parameters
If the robot is mounted at any other angle, the system parameter Gravity Beta must
be updated. Gravity Beta specifies the robot’s mounting angle expressed in radians.
Note
Gravity Beta must be configured correctly so that the robot system can control
the movements in the best possible way. An incorrect definition of the mounting
angle (
Gravity Beta ) will result in:
• Overloading the mechanical structure.
• Lower path performance and path accuracy.
• Some functions will not work properly, for example Load Identification and
Collision detection .
Mounting angles and values
The parameter Gravity Beta specifies the robot’s mounting angle 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 (A)
0.261799 15° Tilted (B)
3.141593 180° Suspended (D)
Defining the parameter in the software
The value of the system parameter Gravity Beta must be redefined when changing
the mounting angle of the robot. The parameter belongs to the type Robot , in the
topic Motion .
How to calculate a new value is detailed in Mounting angles and values on page 76 .
The parameter is described in Technical reference manual - System parameters .
Continues on next page
76 3HAC033453-001 Revision: H
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2 Installation and commissioning
2.3.5 Setting the system parameters for a suspended robot