ABB IRB 1010 Product Manual page 59

Examples of mounting angles tilted around the Y axis (Gravity Beta)
xx2200000482
Pos 1
Pos 2
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.
xx2200000535
Mounting angle
0° (Floor mounted)
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.
Product manual - IRB 1010
3HAC081964-001 Revision: B
3.3.4 Setting the system parameters for an inverted or a tilted robot
Floor mounted
Mounting angle 180° (Suspended)
0°
Note
For suspended robots (180°), it is recommended to use Gravity Beta instead of
Gravity Alpha.
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3 Installation and commissioning
Gravity Alpha
0
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