ABB IRB 6660 Product Manual page 56

2 Installation and commissioning
2.2.2 Working range and type of motion
Continued
IRB 6660 - 205/1.9
xx1000000663
(A)
(B)
Positions at wrist center
Position num-
ber, see figure
above
A
B
C
D
E
F
G
H
K
Continues on next page
56
Max. working range
Max. working range
X position (mm) Z position (mm)
1193 1794.5
575 1903.2
751.5 1162.7
632.2 351.1
793.3 -37.9
1932.4 914.8
1579.6 1833
1043.4 2083.2
997.3 -60.4
© Copyright 2007-2018 ABB. All rights reserved.
Axis 2 angle (de- Axis 3 angle (de-
grees) grees)
0 0
-42 -20
-42 28
50 120
85 120
85 15
50 -20
0 -20
85 107.4
Product manual - IRB 6660
3HAC028197-001 Revision: S