Setting The System Parameters For An Inverted Or A Tilted Robot - ABB CRB 15000 Product Manual

3.3.6 Setting the system parameters for an inverted or a tilted robot

General
The robot is configured for mounting parallel to the floor, without tilting, on delivery.
If the robot is mounted in any other angle than 0°, then the system parameters
that describe the mounting angle (how the robot is oriented relative to the gravity)
must be re-defined.
System parameters
Gravity Beta
When the robot is mounted other than floor-standing (rotated around the y-axis),
the robot base frame and the system parameter Gravity Beta must be redefined.
If the robot is mounted upside down (inverted), then Gravity Beta should be π
(+3.141593).
If the robot is mounted on a wall, then Gravity Beta should be ±π/2 (±1.570796).
The Gravity Beta is a positive rotation direction around the y-axis in the base
coordinate system. The value is set in radians.
Gravity Alpha
If the robot is mounted on a wall (rotated around the x-axis), then the robot base
frame and the system parameter Gravity Alpha must be redefined. The value of
Gravity Alpha should then be ±π/2 (±1.570796).
Product manual - CRB 15000
3HAC077389-001 Revision: L
3.3.6 Setting the system parameters for an inverted or a tilted robot
Note
With inverted installation, make sure that the gantry or corresponding structure
is rigid enough to prevent unacceptable vibrations and deflections, so that
optimum performance can be achieved.
Note
The mounting positions are described in
the requirements on the foundation are described in
on page 42.
Note
The mounting angle must be configured correctly in the system parameters so
that the robot system can control the movements in the best possible way. An
incorrect definition of the mounting angle will result in:
• Overloading the mechanical structure.
• Lower path performance and path accuracy.
• Some functions will not work properly, for example Load Identification and
Collision detection.
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3 Installation and commissioning
Mounting positions on page
Requirements, foundation
Continues on next page
40, and
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