ABB IRB 6620 Product Manual page 64

2 Installation and commissioning
2.4.2 Working range and type of motion
Continued
Turning radius - floor mounted
The turning radius for the robot when floor mounted, is shown in the figure below.
xx0600002909
Type of motion
Axis
1
2
3
4
5
6
¹ The default working range can be extended by changing parameter values in the
software. OptionAdvanced Motion is required.
64
Type of motion Range of movement
Rotation motion + 170° to - 170°
Arm motion + 140° to - 65°
Arm motion + 70° to - 115°
Wrist motion + 300° to - 300°
Bend motion + 130° to - 130°
Turn motion + 300° to - 300° default
© Copyright 2006-2018 ABB. All rights reserved.
Note
Limitations with dresspack
Limitations with dresspack
Max. ±96 revolutions ¹
Product manual - IRB 6620
3HAC027151-001 Revision: T