ABB IRB 6700 Series - Working Range

2.2.2 Working range
Working range
NoteWorking rangeType of motionAxis
±170° or ±220° (op-
tion)
Rotation motionAxis 1
-65°/+85°
i
Arm motionAxis 2
-180°/+70°Arm motionAxis 3
Default value.±300°Wrist motionAxis 4
±130°
ii
Bend motionAxis 5
Default value.±360°
iii
Turn motionAxis 6
Maximum value.±93.7 revolutions
The default working range for axis
6 can be extended by changing
parameter values in the software.
i
Working range for variants IRB 6700 - 300/2.70 and - 245/3.00:
+85° to -65° when axis 3 is within +70° to -45°
+85° to -58° when axis 3 is within +70° to -180°
ii
Working range +120° to -120° for robots with LeanID, option 780-4.
iii
Working range +220° to -220° for robots with LeanID, option 780-4.
Working range axis 5 and axis 6 for LeanID, option 780-4
Allowed working area for axis 6 related to axis 5 position is shown in the figure
below.
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52 Product manual - IRB 6700
3HAC044266-001 Revision: N
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2 Installation and commissioning
2.2.2 Working range