ABB IRB 5720, Product Manual

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3.3.6 Setting the system parameters for an inverted or a tilted robot
General
The robot is configured for mounting parallel to the floor, without tilting, on delivery.
The method for mounting the robot in a inverted (upside down) or tilted position
is basically the same as for floor mounting, but the system parameters that describe
the mounting angle (how the robot is oriented relative to the gravity) must be
re-defined.
Note
With inverted 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.
Note
The allowed mounting positions are described in the product specification for
the robot. The requirements on the foundation are described in
Requirements,
foundation on page 39 .
System parameters
Note
The mounting angle must be configured correctly in the system parameters so
that the robot system can control the movements in the best possible way. An
incorrect definition of the mounting angle 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 .
Gravity Beta
When the robot is mounted other than floor-standing (rotated around the y-axis),
the robot base frame and the system parameter
Gravity Beta must be redefined.
If the robot is mounted upside down (inverted), then Gravity Beta should be π
(+3.141593).
The Gravity Beta is a positive rotation direction around the y-axis in the base
coordinate system. The value is set in radians.
Gamma Rotation
Gamma Rotation defines the orientation of the robot foot on the travel carriage
(track motion).
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Product manual - IRB 5720 77
3HAC079195-001 Revision: A
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3 Installation and commissioning
3.3.6 Setting the system parameters for an inverted or a tilted robot