ABB CRB 15000 - Page 48

Illustration, working range CRB 15000-10/1.52
This illustration shows the unrestricted working range of the robot.
R1482.3
R452.9
R202.6
0
326.5
400
442.6
1297
1882.3
307
1082.3
0
1332.3
625.3
48
150
596.9
925.3
888
1632.3
Z
X
Pos0
Pos1
Pos2
Pos4 Pos6
Pos5 Pos7
Pos3
Pos8
xx2300000575
Positions at wrist center and angle of axes 2 and 3
Angle (degrees)Positions at wrist center (mm)Position in the
figure
axis 3axis 2ZX
0°0°1297888pos0
-80.2°0°1882.3150pos1
-80.2°90°4001632.3pos2
-80.2°180°-1082.3150pos3
-80.2°-90°400-1332.3pos4
9.8°180°-307-625.3pos5
85°180°442.6-48pos6
-170.2°180°-307925.3pos7
-225°180°326.5596.9pos8
Continues on next page
48 Product manual - CRB 15000
3HAC077389-001 Revision: L
© Copyright 2021 - 2023 ABB. All rights reserved.
2 Manipulator description
2.4 Working range
Continued