Setting The System Parameters For A Suspended Or Tilted Robot - ABB IRB 2600 Product Manual

2 Installation and commissioning

2.3.3 Setting the system parameters for a suspended or tilted robot

2.3.3 Setting the system parameters for a suspended or 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 suspended (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 in the base coordinate system) must
be redefined.
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.
The allowed mounting positions are described in the product specification for
the robot. The requirements on the foundation are described in
foundation on page
System parameters
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:
Gravity Alpha
If the robot is mounted on a wall (rotated around the x-axis), then the robot base
frame and the system parameter Gravity Alpha must be redefined. The value of
Gravity Alpha should then be ±π/2 (±3.141593/2).
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Note
Note
60.
Note
• Overloading the mechanical structure.
• Lower path performance and path accuracy.
• Some functions will not work properly, for example Load Identification and
Collision detection.
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Requirements,
Product manual - IRB 2600
3HAC035504-001 Revision: G