ABB IRB 1600 - 5/1,2 type A - Page 44

2 Installation and commissioning
2.2.2. Working range
3HAC026660-001 Revision: C42
© Copyright 2006-2008 ABB. All rights reserved.
Illustration, working range IRB 1600 ID
xx0700000136
Pos Positions at wrist center (mm) Angle (degrees)
X Z axis 2 axis 3
0 790 1296,5 0 0
1 150 1836 0 -80
2 380 579 0 +79
3 1499,5 486,5 +90 -80
4 720,5 -736,5 +150 -80
5 397,5 499,5 +150 -238
6 57,5 716,5 -90 79
7 -1199,5 486,5 -90 -80
Continued
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