2.3.3 Setting the system parameters for a suspended or tilted robotGeneralThe robot is configured for mounting parallel to the floor, without tilting, on delivery.The method for mounting the robot in a suspended (upside down) or tilted positionis basically the same as for floor mounting, but the system parameters that describethe mounting angle (how the robot is oriented in the base coordinate system) mustbe redefined.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.NoteThe allowed mounting positions are described in the product specification forthe robot. The requirements on the foundation are described in Requirements,foundation on page 60.System parametersNoteThe mounting angle must be configured correctly in the system parameters sothat the robot system can control the movements in the best possible way. Anincorrect 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 andCollision detection.Gravity AlphaIf the robot is mounted on a wall (rotated around the x-axis), then the robot baseframe and the system parameter Gravity Alpha must be redefined. The value ofGravity Alpha should then be ±π/2 (±3.141593/2).Continues on next page72 Product manual - IRB 26003HAC035504-001 Revision: G© Copyright 2009-2015 ABB. All rights reserved.2 Installation and commissioning2.3.3 Setting the system parameters for a suspended or tilted robot
