Working Range And Type Of Motion - ABB IRB 6660 Product Manual

2 Installation and commissioning

2.2.2 Working range and type of motion

2.2.2 Working range and type of motion
Working range
The following figures show the working ranges of the robot variants. The extreme
positions of the robot arm are specified at the wrist center (dimensions in mm).
IRB 6660 - 100/3.3
xx1200000979
(A)
(B)
(C)
Positions at wrist center
Position num-
ber, see figure
above
A
B
C
D
E
F
G
Continues on next page
54
1211 (A) 997
1131 (B)
300
645
940
Mechanical stop
Max. working range
Max. working range
X position (mm)
2055.5
997
1125
645
940
3343
2834
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1755,5 200
B
A
2834
1125
C
D
E
3343
Z position (mm) Axis 2 angle (de-
grees)
2374,5 0
2629 -42
1189 -42
-23 50
-734 85
742 85
2501 50
G
F
Axis 3 angle (de-
grees)
0
-20
28
120
120
15
-20
Product manual - IRB 6660
3HAC028197-001 Revision: S