ABB IRB 120 - Page 34

Turning radius
The turning radius of robot is shown in the figure.
A
B
C
165°
165°
xx0900000157
Pos. CPos. BPos. ARobot variant
R169.4R580R121
i
IRB 120-3/0.6
i
Minimum turning radius axis 1.
Robot motion
The table specifies the types and ranges of motion in every axes.
Range of movementType of motionLocation of motion
+165° to -165°Rotation motionAxis 1
+110° to -110°Arm motionAxis 2
+70° to -110°Arm motionAxis 3
+160° to -160°Wrist motionAxis 4
+120° to -120°Bend motionAxis 5
+400° to -400° (default)Turn motionAxis 6
+242 revolutions to -242 re-
volutions maximum
i
i
The default working range for axis 6 can be extended by changing parameter values in the software.
Option 610-1 Independent axis can be used for resetting the revolution counter after the axis has
been rotated (no need for "rewinding" the axis).
34 Product specification - IRB 120
3HAC035960-001 Revision: T
© Copyright 2010-2019 ABB. All rights reserved.
1 Description
1.8.1 Working range and type of motion
Continued