2.4.3 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 relative to the gravity) must bere-defined.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 54.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 BetaIf the robot is mounted upside down or tilted (rotated around the y-axis), then therobot base frame and the system parameter Gravity Beta must be redefined. GravityBeta should then be π (+3.141593) if the robot is mounted upside down (suspended).The Gravity Beta is a positive rotation direction around the y-axis in the basecoordinate system. The value is set in radians.Continues on next pageProduct manual - IRB 4600 Foundry Prime 653HAC040585-001 Revision: M© Copyright 2013-2018 ABB. All rights reserved.2 Installation and commissioning2.4.3 Setting the system parameters for a suspended or tilted robot
