ABB IRB 2400/L Product Manual page 70

2 Installation and commissioning
2.3.7 Setting the system parameters for a suspended or tilted robot
Continued
Defining the parameter in the software, M2000/M2000A
Following steps describes how to enter the correct gravity beta values.
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2
3
4
5
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
The system parameters are described in Technical reference manual - System
parameters.
The system parameters are redefined in the Configuration Editor, in RobotStudio
or on the FlexPendant.
70
Action
Choose Topics: Manipulator.
Choose Types: Robot.
Select Master and press Enter.
Select the desired parameter Gravity Beta and change its value.
Press OK to confirm.
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Mounting angles and values on page
Product manual - IRB 2400
3HAC022031-001 Revision: P
68.