ABB Robotics IRB 1100 Product Manual page 63

Examples of mounting angles tilted around the X axis (Gravity Alpha)
The following illustration shows the IRB 120, but the same principle applies for all
robots.
xx1500000532
Pos
1
2
3
4
Product manual - IRB 1100
3HAC064992-001 Revision: C
3.3.4 Setting the system parameters for a suspended or a tilted robot
Mounting angle
0° (Floor mounted)
45° (Tilted)
90° (Wall)
-90° (Wall)
Note
For suspended robots (180°), it is recommended to use Gravity Beta instead of
Gravity Alpha.
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3 Installation and commissioning
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Gravity Alpha
0
0.785398
1.570796
-1.570796
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