ABB CRB 1100 Product Manual page 63

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
xx2100000299
Mounting angle
0° (Floor mounted)
90° (Wall)
-90° (Wall)
Limitations in working area
If mounting the robot on a wall, the working range of axis 1 is limited. These
limitations are specified in the table
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 - CRB 1100
3HAC078007-001 Revision: J
3.3.4 Setting the system parameters for an inverted or a tilted robot
0°
Note
For suspended robots (180°), it is recommended to use Gravity Beta instead of
Gravity Alpha.
© Copyright 2021-2023 ABB. All rights reserved.
3 Installation and commissioning
-
xx2100000300
Gravity Alpha
0
1.570796
-1.570796
Working range on page
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47.
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