ABB IRB 140 type C Product Manual page 54

2 Installation and commissioning
2.3.7. Suspended mounting
Continued
xx0200000066
Defining the parameter
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
The parameter is further detailed in the Technical reference manual - System parameters.
The parameter can be edited either with the FlexPendant or in RobotStudio. Read about how
to change the parameter in the Operating manual - IRC5 with FlexPendant or in the
Operating manual - RobotStudio.
52
Mounting angles and values on page
3HAC027400-001 Revision: C
51.