ABB IRB 6620 Product Manual page 95

Defining the parameter in the IRC5 software
The value of the system parameters that define the mounting angle must be
redefined when changing the mounting angle of the robot. The parameters belong
to the type Robot, in the topic Motion.
How to calculate a new value is detailed in
The system parameters are described in Technical reference manual - System
parameters.
The system parameters are redefined in the Configuration Editor, in RobotStudio
or on the FlexPendant.
Product manual - IRB 6620
3HAC027151-001 Revision: T
2.5.8 Setting the system parameters for a suspended or tilted robot
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2 Installation and commissioning
Mounting angles and values on page
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