Working Range - ABB IRB 6700 Product Manual

2.2.2 Working range

Working range
Axis
Axis 1
Axis 2
Axis 3
Axis 4
Axis 5
Axis 6
i
ii
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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3HAC044266-001 Revision: -
Type of motion
Rotation motion
Arm motion
Arm motion
Wrist motion
Bend motion
Turn motion
Working range +120° to -120° for robots with LeanID, option 780-4.
Working range +220° to -220° for robots with LeanID, option 780-4.
-120 -110 -100 -90 -80 -70 -60 -50
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2 Installation and commissioning
Working range
±170°
-65°/+85°
-180°/+70°
±300°
i
±130°
ii
±360°
± 93.7 revolutions
270
240
210
180
150
120
90
60
30
0
-40 -30 -20 -10 0 10 20 30
-30
-60
-90
-120
-150
-180
-210
-240
-270
Axis 6
2.2.2 Working range
Note
Default value.
Default value.
Maximum value.
The default working range for axis
6 can be extended by changing
parameter values in the software.
40 50 60 70 80 90 100
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110 120
55