ABB CRB 15000 - Working Range

2.4 Working range
Illustration, working range CRB 15000-5/0.95
This illustration shows the unrestricted working range of the robot.
R951
R199.4
R230.3
0
686
179
287.6
272.7
899
1216
265
0
951 507 507
198.1 230.2
951
470
Pos 0
Pos 3
Pos 4
Pos 5
Pos 8
Pos 6
Pos 7
X
Z
Pos 1
Pos 2
xx2000002410
Positions at intersection point of axes 4-5-6 and angle of axes 2 and 3
Angle (degrees)Positions at wrist center
(mm)
Position in
the figure
axis 5axis 3axis 2ZX
0°0°0°899470pos0
0°-68°0°12160pos1
0°-68°90°265951pos2
0°-68°180°-6860pos3
0°-68°-90°265-951pos4
0°22°180°-179-507pos5
0°85°180°272.7-230.2pos6
0°-158°180°-179507pos7
0°-225°180°287.6198.1pos8
Continues on next page
Product manual - CRB 15000 47
3HAC077389-001 Revision: L
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2 Manipulator description
2.4 Working range