Mounting Angles And Values - ABB IRB 1660 Product Manual

2 Installation and commissioning
2.3.5 Setting the system parameters for a suspended or tilted robot
Continued

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.
Example of position
Floor mounted
Tilted mounting
Wall mounting
Suspended mounting
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Mounting angle (A°)
0°
30º
90°
180°
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Gravity Beta
0.000000 (Default)
0.523599
1.570796
3.141593
Product manual - IRB 1600/1660
3HAC026660-001 Revision: W