ABB IRB 6620 Product Manual page 89

Examples of mounting angles tilted around the X axis (Gravity Alpha)
The following illustration shows the IRB 120, but the same principle applies for all
robots.
xx1500000532
Pos
1
2
3
4
Product manual - IRB 6620
3HAC027151-001 Revision: W
2.5.8 Setting the system parameters for a suspended or tilted robot
Mounting angle
0° (Floor mounted)
45° (Tilted)
90° (Wall)
-90° (Wall)
Note
For suspended robots (180°), it is recommended to use Gravity Beta instead of
Gravity Alpha.
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2 Installation and commissioning
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Gravity Alpha
0
0.785398
1.570796
-1.570796
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