ABB IRB 1600 - 5/1,2 type A - Page 59

2 Installation and commissioning
2.3.6. Fitting equipment on the robot (robot dimensions)
573HAC026660-001 Revision: C
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Main dimension 1600 ID
The figure below shows the main dimensions for 1600 ID robot.
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(A) Centerline of axis 1
(B) Smallest circumscribed radius, axis 1
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