ABB IRB 640 - Amount of Space Required; Manipulator

Installation and Commissioning On-Site Installation
Product Manual IRB 640 11
2.4 Amount of space required
The amount of working space required to operate the manipulator and controller is
illustrated in Figure 7.
The working range for axis 1 is +/- 180°.
NB: There are no software or mechanical limits for the working space under the
base of the manipulator.
2.4.1 Manipulator
Figure 7 The working space required for the manipulator.
IRB 640
All dimensions refer to TCP 0 (mm)
+1
-1
1220
2905
+2-2
+3
-3
2/3
+6
-6
TCP 0
2310
599