ABB IRB 120 Product Manual page 67

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Pos 1
Pos 2
Pos 3
Pos 4
Defining the parameter in the software, RobotWare 5.0
The value of the system parameter Gravity beta must be redefined when changing the
mounting angle of the robot. The parameter belongs to the type Robot, in the topic Motion.
How to calculate a new value is detailed in
The parameter is further detailed in the Technical reference manual - System parameters.
The parameter can be edited either with the FlexPendant or in RobotStudio. Read about how
to change the parameter in the Operating manual - IRC5 with FlexPendant or in the
Operating manual - RobotStudio. Article numbers for the manuals are specified in
on page
3HAC035728-001 Revision: B
Floor mounted
Mounting angle 45°
Mounting angle 90°
Mounting angle 180°
8.
2 Installation and commissioning
2.3.5. Suspended mounting
Mounting angles and values on page
Continued
64.
References
65