ABB IRB 120 - Working Range and Type of Motion

2.2.2 Working range and type of motion
Working range
The figures show the working ranges of the robot.
The extreme positions of the robot arm are specified at the wrist center (dimensions
in mm).
Working range
The illustration shows the unrestricted working range of the robot.
580 580
112
982
R
55
6
,
1
X
Pos 1
Pos 0
Pos 7
Pos 8
Pos 3
Pos 4
Pos 2
Pos 6
Pos 5
Z
xx0900000263
Angle (degrees)Position at wrist center (mm)Posi-
tion
Axis 3Axis 2ZX
0°0°630 mm302 mmA
-77°0°870 mm0 mmB
+70°0°300 mm169 mmC
-77°+90°270 mm580 mmD
-77°+110°91 mm545 mmE
-110°-110°-50 mm-440 mmF
+70°-110°445 mm-67 mmG
-77°-90°270 mm-580 mmH
-77°-110°91 mm-545 mmJ
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60 Product manual - IRB 120
3HAC035728-001 Revision: N
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2 Installation and commissioning
2.2.2 Working range and type of motion