2 Installation and commissioning
2.3.4. Suspended mounting
3HAC026660-001 Revision: C52
© Copyright 2006-2008 ABB. All rights reserved.
2.3.4. Suspended mounting
General
Initially the system is configured for mounting on the floor, without leaning. The method for
mounting the robot in a suspended position is basically the same as for floor mounting.
NOTE!
With suspended installation, make sure that the gantry or corresponding structure is rigid
enough to prevent unacceptable vibrations and deflections, so that optimum performance can
be achieved.
System parameters
If the robot is mounted at any other angle, the system parameter “gravity beta” must be
updated. 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 the
movements in the best possible way. Incorrect definition of mounting angle (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 & Collision
detection.
Mounting angles and values
The parameter “gravity beta” specifies the robot’s mounting angle in radians. It is calculated
in the following way for a mounting angle of 45°.
Gravity beta = 45° x 3.141593/180 = 0.785398 radians.
Example of position Mounting angle Gravity beta
Floor (A) 0° 0.000000 (Default)
Tilted (B) 30º 0.523599
Wall (C) 90° 1.570796
Suspended (D) 180° 3.141593
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