ABB IRB 6620 - Robot Motion; Introduction

1 Description
1.8.1 Introduction
3HAC 025861-001 Rev.E 35
1.8 Robot Motion
1.8.1 Introduction
Type of Motion
Axis Type of motion
Range of movement
IRB 6620-150/2.2
1 Rotation motion + 170° to - 170°
2 Arm motion + 140° to - 65°
3 Arm motion + 70° to - 180°
4 Wrist motion + 300° to - 300°
5 Bend motion + 130° to - 130° (Limitations with DressPack)
6 Turn motion + 300° to - 300° default
Max. ± 96 Revolutions
a
a. 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).