ABB CRB 15000 - Page 49

Illustration, working range CRB 15000-12/1.27
This illustration shows the unrestricted working range of the robot.
R397.6
R1381
0
1381
674 193
370.6
674 635
1381
0
194
276.8
338
1235
1719
369
1043
R202.5
Z
X
Pos1
Pos3
Pos2
Pos5
Pos4
Pos7
Pos6
Pos8
xx2300000576
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°1235635pos0
-78.4°0°17190pos1
-78.4°90°3381381pos2
-78.4°180°-10430pos3
-78.4°-90°338-1381pos4
11.6°180°-369-674pos5
85°180°276.8-193pos6
-168.4°180°-369674pos7
-225°180°194370.6pos8
Continues on next page
Product manual - CRB 15000 49
3HAC077389-001 Revision: L
© Copyright 2021 - 2023 ABB. All rights reserved.
2 Manipulator description
2.4 Working range
Continued