ABB IRB 5720 Product Manual page 78

3 Installation and commissioning
3.3.6 Setting the system parameters for an inverted or a tilted robot
Continued
Mounting angles and values
The parameter Gravity Beta (or Gravity Alpha) 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
Inverted mounting
Defining the system parameters in RobotWare
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.
The system parameters are described in Technical reference manual - System
parameters.
The system parameters are configured in RobotStudio or on the FlexPendant.
78
Mounting angle (A°)
0°
Example:
15°
180°
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Gravity Beta
0.000000 (Default)
Corresponds to:
0.261799 rad
3.141593
Product manual - IRB 5720
3HAC079195-001 Revision: A