ABB Robotics IRB 1100 Product Manual page 44

2 Technical data
2.3 Working range
Continued
Illustration, working range IRB 1100-4/0.58
This illustration shows the unrestricted working range of the robot.
Pos 7
xx1800002438
Positions at wrist center and angle of axes 2 and 3
Position in the
figure
pos0
pos1
pos2
pos3
pos4
pos5
pos6
pos7
pos8
pos9
Continues on next page
44
Pos 1
Z
Pos 6
Pos 5
Pos 8
Positions at wrist center (mm)
X
364
0
184.6
580
534
-304
-112.4
-580
-525.8
237.3
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Pos 0
Pos 9
Pos 3
Pos 2
Pos 4
X
Angle (degrees)
Z axis 2
617 0°
907.2 0°
327 12.5°
327 90°
100.3 113°
327 -28.3°
473.5 -115°
327 -90°
81.8 -115°
517.1 113°
907.2
617
517.1
473.5
327
100.3
81.8
0
82.6
91.5
axis 3
0°
-88°
55°
-88°
-88°
-205°
55°
-88°
-88°
-205°
Product manual - IRB 1100
3HAC064992-001 Revision: C