ABB IRB 6700 - Working Range

2.2.2 Working range
Working range
NoteWorking rangeType of motionAxis
±170°Rotation motionAxis 1
-65°/+85°Arm motionAxis 2
-180°/+70°Arm motionAxis 3
Default value.±300°Wrist motionAxis 4
±130°
i
Bend motionAxis 5
Default value.±360°
ii
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 +120° to -120° for robots with LeanID, option 780-4.
ii
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.
-270
-
240
-210
-180
-150
-120
-90
-60
-30
0
30
60
90
120
150
180
210
240
270
-120 -110 -100 -90 -80 -70 -60 -50 -40 -30 -20 -10 0 10 20 30 40 50 60 70 80 90 100 110 120
Axis 5
Axis 6
xx1300001587
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3HAC044266-001 Revision: - 55
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2 Installation and commissioning
2.2.2 Working range