ABB CRB 1300 Product Manual page 72

3 Installation and commissioning
3.3.4 Setting the system parameters for an inverted or a tilted robot
Continued
The Gravity Alpha is a positive rotation direction around the x-axis in the base
coordinate system. The value is set in radians.
Gamma Rotation
Gamma Rotation defines the orientation of the robot foot on the travel carriage
(track motion).
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
Wall mounted
Inverted mounting
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.
xx2100000297
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72
Note
The system parameter Gravity Alpha is not supported for all robot types.
If the robot does not support Gravity Alpha, then use Gravity Beta along with the
re-calibration of axis 1 to define the rotation of the robot around the x-axis.
Note
The parameter is supported for all robots on track when the system parameter
7 axes high performance motion is set, see Technical reference manual - System
parameters.
0°
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Mounting angle (A°)
0°
90°
180°
Gravity Beta
0.000000 (Default)
1.570796
3.141593
Product manual - CRB 1300
3HAC083111-001 Revision: B