Range of movement 1.55 m reachType of motionAxis
+150° to -90°Arm motion2
+79° to -238°Arm motion3
+175° to -175°Rotation motion4
+120° to -120°Bend motion5
+400° to -400°Turn motion6
+191 rev.
ii
to -191 rev. maximum
iii
i
The working range of axis 1 has the following limitations for wall mounted robots:
• IRB 1660ID-X/1.55: ±45°
If the robot is tilted, the working range with tilt angles is:
• ± 180° with tilt angles up to 45°
ii
rev. = Revolutions
iii
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).
Positions at wrist center 1.2 m reach
xx1000000914
Axis 3 angle (de-
grees)
Axis 2 angle (de-
grees)
Z (mm)X (mm)Position
009627500
-90015621501
Continues on next page
56 Product manual - IRB 1600/1660
3HAC026660-001 Revision: W
© Copyright 2006-2018 ABB. All rights reserved.
2 Installation and commissioning
2.2.2 Working range
Continued
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