Working Range - ABB IRB 6700 Series Product Manual

2 Installation and commissioning

2.2.2 Working range

2.2.2 Working range
Working range
Axis
Axis 1
Axis 2
Axis 3
Axis 4
Axis 5
Axis 6
i
ii
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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Type of motion
Rotation motion
Arm motion
Arm motion
Wrist motion
Bend motion
Turn motion
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°
Working range +120° to -120° for robots with LeanID, option 780-4.
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Working range Note
±170° or ±220° (op-
tion)
i
-65°/+85°
-180°/+70°
±300° Default value.
ii
±130°
iii
±360° Default value.
±93.7 revolutions Maximum value.
The default working range for axis
6 can be extended by changing
parameter values in the software.
Product manual - IRB 6700
3HAC044266-001 Revision: N