Working Range And Type Of Motion - ABB IRB 6640 - 180/2.55 Product Manual

2 Installation and commissioning

2.4.2. Working range and type of motion

2.4.2. Working range and type of motion
Working range
The following figures show the working ranges of the robot models. The extreme positions
of the robot arm are specified at the wrist center (dimensions in mm).
IRB 6640 - 180/2.55, 235/2.55, 205/2.75, 185/2.8, 130/3.2 & IRB 6640ID - 200/2.55, 170/2.75
The illustration below shows the unrestricted working range. Measurements for the different
robot variants, are shown as A to F, in the illustration below.
xx0600003396
Robot model
IRB 6640-2.55
IRB 6640-2.75
IRB 6640-2.8
IRB 6640-3.2
IRB 6640ID-2.55 3013 mm
IRB 6640ID-2.75 3219 mm
50
A B C
3013 mm 284 mm 2550 mm
3219 mm 268 mm 2755 mm
3261 mm 533 mm 2800 mm
3665 mm 713 mm 3200 mm
284 mm 2550 mm
268 mm 2755 mm
D E F
903 mm 1119 mm 1814 mm
961 mm 1252 mm 1999 mm
1004 mm 1324 mm 2061 mm
1067 mm 1604 mm 2445 mm
903 mm 1549 mm 1814 mm
961 mm 1682 mm 1999 mm
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3HAC026876-001 Revision: C