ABB IRB 4600 - 60/2.05 - Page 64

Robot motion, IRB 4600-20/2.50
The table specifies the types and ranges of motion in every axes.
Range of movementType of motionLocation of motion
±180°Rotation motionAxis 1
+150° / -90°Arm motionAxis 2
+75° / -180°Arm motionAxis 3
±400°Wrist motionAxis 4
±120°Bend motionAxis 5
±400°Turn motionAxis 6
64 3HAC033453-001 Revision: H
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2 Installation and commissioning
2.2.2 Working range and type of motion
Continued