2 Installation and commissioning2.3.7. Suspended mounting573HAC023297-001 Revision: A2.3.7. Suspended mountingGeneralInitially the system is configured for mounting on the floor, without leaning. The method formounting the manipulator in a suspended position is basically the same as for floor mounting.NOTE!With inverted installation, make sure that the gantry or corresponding structure is rigidenough to prevent unacceptable vibrations and deflections, so that optimum performance canbe achieved.System ParametersIf the robot is mounted at any other angle, the system parameter “gravity beta” must beupdated. Gravity beta specifies the robot’s mounting angle expressed in radians.NOTE!It is very important to configure gravity beta correctly so that the robot system can control themovements in the best possible way. Incorrect definition of mounting angle (gravity beta) willresult in:• Overloading the mechanical structure.• Lower path performance and path accuracy.• Some S4 functions will not work properly: e.g Load Identification & Collisiondetection.Mounting Angles and ValuesThe parameter “gravity beta” specifies the robot’s mounting angle in radians. It is calculatedin the following way for a mounting angle of 45°.Gravity beta = 45° x 3.141593/180 = 0.785398 radians.Examples of Position Mounting Angle Gravity BetaFloor (pos 1) 0° 0.000000 (Default)Tilted (pos 2) 45° 0.785398Wall (pos 3) 90° 1.570796Ceiling (pos 4) 180° 3.141593
