2.3.5 Setting the system parameters for a suspended robotGeneralInitially the system is configured for mounting on the floor, without leaning. Themethod for mounting the robot in a suspended position is basically the same asfor floor mounting.NoteWith suspended installation, make sure that the gantry or corresponding structureis rigid enough to prevent unacceptable vibrations and deflections, so thatoptimum performance can be achieved.System parametersIf the robot is mounted at any other angle, the system parameter Gravity Beta mustbe updated. Gravity Beta specifies the robot’s mounting angle expressed in radians.NoteGravity Beta must be configured correctly so that the robot system can controlthe movements in the best possible way. An incorrect definition of the mountingangle (Gravity Beta) will result in:• Overloading the mechanical structure.• Lower path performance and path accuracy.• Some functions will not work properly, for example Load Identification andCollision detection.Mounting angles and valuesThe parameter Gravity Beta specifies the robot’s mounting angle in radians. It iscalculated in the following way.Gravity Beta = A° x 3.141593/180 = B radians, where A is the mounting angle indegrees and B is the mounting angle in radians.Gravity BetaMounting angle (A°)Example of position0.000000 (Default)0°Floor (A)0.26179915°Tilted (B)3.141593180°Suspended (D)Defining the parameter in the softwareThe value of the system parameter Gravity Beta must be redefined when changingthe mounting angle of the robot. The parameter belongs to the type Robot, in thetopic Motion.How to calculate a new value is detailed in Mounting angles and values on page 76.The parameter is described in Technical reference manual - System parameters.Continues on next page76 3HAC033453-001 Revision: H© Copyright 2009-2013 ABB. All rights reserved.2 Installation and commissioning2.3.5 Setting the system parameters for a suspended robot
