Robot Motion; Working Range And Type Of Motion - ABB IRB 120 Product Specification

1.8 Robot motion

1.8.1 Working range and type of motion

Working range
The figures show the working ranges of the robot.
The extreme positions of the robot arm are specified at the wrist center (dimensions
in mm).
Working range
The illustration shows the unrestricted working range of the robot.
Pos 7
xx0900000263
Posi-
tion
A
B
C
D
E
F
G
H
J
Product specification - IRB 120
3HAC035960-001 Revision: T
Pos 6
Pos 8
Pos 5
580
Position at wrist center (mm)
X Z
302 mm 630 mm
0 mm 870 mm
169 mm 300 mm
580 mm 270 mm
545 mm 91 mm
-440 mm -50 mm
-67 mm 445 mm
-580 mm 270 mm
-545 mm 91 mm
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1.8.1 Working range and type of motion
Pos 1
Z
Pos 0
Pos 2
Pos 4
X
580
Angle (degrees)
Axis 2
0°
0°
0°
+90°
+110°
-110°
-110°
-90°
-110°
1 Description
Pos 3
Axis 3
0°
-77°
+70°
-77°
-77°
-110°
+70°
-77°
-77°
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