ABB IRB 6640 Foundry Prime - Working Range and Type of Motion

2.6.2 Working range and type of motion
Working range
The following figures show the working ranges of the robot variants. The extreme
positions of the robot arm are specified at the wrist center (dimensions in mm).
IRB 6640 - 180/2.55, 235/2.55, 205/2.75, 185/2.8, 130/3.2 & IRB 6640ID - 200/2.55, 170/2.75
The illustration below shows the unrestricted working range. Measurements for
the different robot variants, are shown as A to F, in the illustration below.
xx0600003396
FEDCBARobot variant
1814 mm1119 mm903 mm2550 mm286 mm3015 mmIRB 6640-2.55
1999 mm1252 mm961 mm2755 mm268 mm3219 mmIRB 6640-2.75
2061 mm1324 mm1004 mm2800 mm533 mm3261 mmIRB 6640-2.8
2445 mm1604 mm1067 mm3200 mm713 mm3665 mmIRB 6640-3.2
1814 mm1549 mm903 mm2550 mm286 mm3015 mmIRB 6640ID-2.55
1999 mm1682 mm961 mm2755 mm268 mm3219 mmIRB 6640ID-2.75
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66 Product manual - IRB 6640 Foundry Prime
3HAC040586-001 Revision: N
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2 Installation and commissioning
2.6.2 Working range and type of motion