ABB IRB 1200 - Page 60

Illustration, working range IRB 1200-5/0.9
IRB 1200-5/0.9 Working range, positions at wrist center and angle of axes 2 and 3
The illustration shows the unrestricted working range of the robot.
Pos 9
901901
342
Pos 1
Pos 3
Pos 0
Pos 4
Pos 2
Pos 6
Pos 5
Pos 8
Z
X
Pos 7
1642
xx1300000387
Angle (degrees)Positions at wrist center (mm)Position in the
figure
Axis 3Axis 2ZX
0º0º889451Pos0
-85º0º13000Pos1
+70º0º438194Pos2
-85º+90º402901Pos3
-85º+130º-178692Pos4
-200º-100º-48-179Pos5
+70º-100º583-72Pos6
-85º-90º397-901Pos7
-85º-100º240-887Pos8
-200°+130°549458Pos9
Continues on next page
60 Product manual - IRB 1200
3HAC046983-001 Revision: S
© Copyright 2014 - 2021 ABB. All rights reserved.
2 Installation and commissioning
2.2.6 Working range
Continued