Permissible angularity for mounting robots - particularly IRB 2400

Robot Controller
1

I cannot find a specification on the angularity at which a robot arm can be mounted. In the manual it just says “inverted” and I am not sure what this encompasses.

I was recently told that a certain angle was not permissible. I dont quite understand this since the manual talks about Floor, Wall and “Ceiling” mounted arms.

I need to know what the specification is or where to find a concrete answer.

Thank you!

2

Parameter Gravity Beta specifies the robot’s mounting angle in radians. It is calculated in the following way:
Gravity = A° x 3.141593/180 = B radians, where A is the mounting angle in degrees and B is in the mounting angle in radians

Floor 0 0.000000
Suspended 180 3.141593