4 A255 Robot Arm User Guide
99-04-23
Range of Motion, Dimensions, and Weight
The arm’s range of motion depends on the dimensions of each arm section (base,
links, tool flange) and the extent of travel of each joint. These measurements
determine the shape of the arm’s workspace. See the following figures and tables.
Note: A dimension involving a joint is measured to the joint axis.
The arm weighs approximately 37 lb [17 kg].
Weight (approx.) lb kg
Arm 37 17
Joint Axis Range of Motion
Waist 1
+175° to –175°
Shoulder 2
+110° to 0°
Elbow 3
0° to –125°
Wrist pitch 4
+110° to –110°
Tool roll 5
+180° to –180°
Note: The range of motion of the elbow (joint 3) is dependent on the positions of
the shoulder (joint 2) and the wrist pitch (joint 4).
Section
Dimensions
inch mm
Base mounting surface to shoulder 10 254.0
Shoulder to elbow 10 254.0
Elbow to wrist pivot (joint 5) 10 254.0
Wrist pivot to tool flange surface 2 50.8
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