ABB IRB 4600 Foundry Prime Product Manual page 67

Examples of mounting angles tilted around the Y axis (Gravity Beta)
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A
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Product manual - IRB 4600 Foundry Prime
3HAC040585-001 Revision: M
2.4.3 Setting the system parameters for a suspended or tilted robot
Floor mounted
Tilted mounting, mounting angle 15°.
Suspended mounting, mounting angle 180°.
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2 Installation and commissioning
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