2.3.5 Setting the system parameters for a suspended or tilted robotGeneralThe robot is configured for mounting parallel to the floor, without tilting, on delivery.The method for mounting the robot in a suspended (upside down) or tilted positionis basically the same as for floor mounting, but the system parameters that describethe mounting angle (how the robot is oriented relative to the gravity) must bere-defined.NoteWith suspended installation, make sure that the gantry or corresponding structureis rigid enough to prevent unacceptable vibrations and deflections, so thatoptimum performance can be achieved.NoteThe allowed mounting positions are described in the product specification forthe robot. The requirements on the foundation are described in Requirements,foundation on page 52.The x-direction in the base coordinate systemIf the robot is wall mounted or mounted in a tilted position, it is important that thex-direction of the robot base coordinate system points downwards, as shown inthe following figure.+X +XYYZZxx1200001354Continues on next page72 Product manual - IRB 1600/16603HAC026660-001 Revision: W© Copyright 2006-2018 ABB. All rights reserved.2 Installation and commissioning2.3.5 Setting the system parameters for a suspended or tilted robot
