ABB IRB 2600 Product Manual page 73

The Gravity Alpha is a positive rotation direction around the x-axis in the base
coordinate system. The value is set in radians.
The system parameter Gravity Alpha is not supported for all robot types. It is not
supported for IRB 140 5 kg, IRB 1400, IRB 1600ID, IRB 2400, IRB 4400, IRB
6400R, IRB 6400 (except for IRB 6400 200/2.5 and IRB 6400 200/2.8), IRB 6600,
IRB 6650, IRB 6650S and IRB 7600 (except for IRB 7600 325/3.1).
If the robot does not support Gravity Alpha, then use Gravity Beta along with the
recalibration of axis 1 to define the rotation of the robot around the x-axis.
The parameter is supported for all robots on track when the system parameter
7 axes high performance motion is set, see Technical reference manual - System
parameters.
Gravity Beta
If the robot is mounted upside down or on a wall (rotated around the y-axis), then
the robot base frame and the system parameter Gravity Beta must be redefined.
Gravity Beta should then be π (±3.141593) if the robot is mounted upside down
(suspended), or ±π/2 (±3.141593/2) if mounted on a wall.
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).
Mounting angles and values
The parameter Gravity Beta 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
Defining the parameter in the IRC5 software
The value of the system parameters that define the mounting angle must be
redefined when changing the mounting angle of the robot. The parameters belong
to the type Robot, in the topic Motion.
How to calculate a new value is detailed in
Product manual - IRB 2600
3HAC035504-001 Revision: G
2.3.3 Setting the system parameters for a suspended or tilted robot
Note
Note
Mounting angle (A°)
0°
15°
90°
180°
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2 Installation and commissioning
Gravity Beta
0.000000 (Default)
0.261799
1.570796
3.141593
Mounting angles and values on page
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