ABB IRB 6650 - 125/3.2 type B - On-site Installation Procedures

2 Installation and commissioning
2.4.2. Working range and type of motion
593HAC023082-001 Revision: E
© Copyright 2004-2008 ABB. All rights reserved.
IRB 6650 - 200/2.75,IRB 6650ID - 170/2.75
The illustration below shows the unrestricted working range:
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Type of motion
1)
The minimum combination of axes 4 and 6.
Axis Type of motion Range of movement Note
1 Rotation motion +180º to -180º Movement range of IRB 6600/
6650 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 6600ID/6650ID: the range
of movement is the combined
value for axis 4 and 6 together.
5 Bend motion IRB 6600/6650:
+120º to -120º
IRB 6600ID/6650ID:
+100º to -100º
6 Turn motion IRB 6600/6650:
+360º to -360º (default), ±
96 revolutions
IRB 6600ID/6650ID:
+300º to -300º
±300º max
1)
Continued