ABB IRB 6640 - Page 63

2 Installation and commissioning
2.5.2. Working range and type of motion
613HAC026876-001 Revision: F
© Copyright 2007-2010 ABB. All rights reserved.
Turning radius
The turning radius, shown as A in the figure below, is specified for the different robot models
below the figure.
xx0600003399
Type of motion
IRB 6640 - 2.55 2550 mm
IRB 6640 - 2.75 2755 mm
IRB 6640 - 2.8 2800 mm
IRB 6640 - 3.2 3200 mm
IRB 6640ID - 2.55 2550 mm
IRB 6640ID - 2.75 2755 mm
Axis Type of motion Range of movement Note
1 Rotation motion +170° to -170° Movement range can be set to:
+220º to -220º (option 561-1)
2 Arm motion +85º to -65º
3 Arm motion +70º to -180º
4 Wrist motion +300º to -300º IRB 6640ID: the range of
movement is the combined value
for axis 4 and 6 together.
5 Bend motion IRB 6640:
+120º to -120º
IRB 6640ID:
+100º to -100º
Continued
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