ABB IRB 6620 - Page 38

1 Description
1.8.1 Introduction
36 Rev.E 3HAC 025861-001
Limitations Axis 5 with DressPack Holder
Due to the DressPack holder at Axis 6 there are the following limitations for Axis 5
movement when DressPack Upper arm is used. See Figure 22.
Figure 22 Limitations for Axis 5 when using DressPack holder.
Pos Description
A Different limitations for the DressPack Holder are due to the asymmetric fork
of the robot wrist.