ABB IRB 6660 Product Manual page 55

IRB 6660 - 130/3.1
xx1000000662
(A)
(B)
(C)
Positions at wrist center
Position num-
ber, see figure
above
A
B
C
D
E
F
G
Product manual - IRB 6660
3HAC028197-001 Revision: S
1619
Z
1211 (A)
763
1131 (B)
B
904
C
D
300
770
1065
1575
Max. working range
Mechanical stop
Max. working range
X position (mm) Z position (mm)
1805.5 2374.5
763 2544
904 1306
770 194
1065 -518
3102 807
2596 2415
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2 Installation and commissioning
2.2.2 Working range and type of motion
200
1505.5
G
A
2596
E
3102
Axis 2 angle (de-
grees)
0
-42
-42
50
85
85
50
Continued
F
X
Axis 3 angle (de-
grees)
0
-20
28
120
120
15
-20
Continues on next page
55