ABB IRB 6620 - Page 64

Turning radius - floor mounted
The turning radius for the robot when floor mounted, is shown in the figure below.
xx0600002909
Type of motion
NoteRange of movementType of motionAxis
+ 170° to - 170°Rotation motion1
+ 140° to - 65°Arm motion2
Limitations with dresspack+ 70° to - 115°Arm motion3
+ 300° to - 300°Wrist motion4
Limitations with dresspack+ 130° to - 130°Bend motion5
Max. ±96 revolutions ¹+ 300° to - 300° defaultTurn motion6
¹ The default working range can be extended by changing parameter values in the
software. OptionAdvanced Motion is required.
64 Product manual - IRB 6620
3HAC027151-001 Revision: T
© Copyright 2006-2018 ABB. All rights reserved.
2 Installation and commissioning
2.4.2 Working range and type of motion
Continued