ABB Robotics IRB 1520 Product Manual page 61

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 1520
3HAC043435-001 Revision: L
2.3.5 Setting the system parameters for a suspended or 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.
© Copyright 2012-2020 ABB. All rights reserved.
2 Installation and commissioning
-
Gravity Alpha
0
0.785398
1.570796
-1.570796
Continues on next page
Continued
61