ABB IRB 120 Product Specification page 34

1 Description
1.8.1 Working range and type of motion
Continued
Turning radius
The turning radius of robot is shown in the figure.
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Robot variant
IRB 120-3/0.6
i
Robot motion
The table specifies the types and ranges of motion in every axes.
Location of motion
Axis 1
Axis 2
Axis 3
Axis 4
Axis 5
Axis 6
i
34
Pos. A
R121
Minimum turning radius axis 1.
The default working range for axis 6 can be extended by changing parameter values in the software.
Option 610-1 Independent axis can be used for resetting the revolution counter after the axis has
been rotated (no need for "rewinding" the axis).
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A
C
165°
Pos. B
i
R580
Type of motion
Rotation motion
Arm motion
Arm motion
Wrist motion
Bend motion
Turn motion
B
Pos. C
R169.4
Range of movement
+165° to -165°
+110° to -110°
+70° to -110°
+160° to -160°
+120° to -120°
+400° to -400° (default)
+242 revolutions to -242 re-
i
volutions maximum
Product specification - IRB 120
3HAC035960-001 Revision: T