Sunspot positions from various historical sets of solar drawings are analyzed with respect to the tilt angles of bipolar sunspot groups. Data by Scheiner, Hevelius, Staudacher, Zucconi, Schwabe, and Spörer deliver a series of average tilt angles spanning a period of 270years, additional to previously found values for 20th-century data obtained by other authors. We find that the average tilt angles before the Maunder minimum were not significantly different from the modern values. However, the average tilt angles of a period 50years after the Maunder minimum, namely for cycles 0 and 1, were much lower and near zero. The normal tilt angles before the Maunder minimum suggest that it was not abnormally low tilt angles which drove the solar cycle into a grand minimum.