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1 Description
1.8.1 Working range and type of motion
Continued
IRB 1200-5/0.9 Working range, positions at wrist center and angle of axes 2 and 3
The illustration shows the unrestricted working range of the robot.
Pos 7
xx1300000387
Position in the
figure
Pos0
Pos1
Pos2
Pos3
Pos4
Pos5
Pos6
Pos7
Pos8
Pos9
42
Pos 6
Pos 8
Pos 5
901
Positions at wrist center (mm)
X
451
0
194
901
692
-179
-72
-901
-887
458
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Pos 1
Z
Pos 0
Pos 9
Pos 2
X
Pos 4
901
Angle (degrees)
Z
Axis 2
889
0º
1300
0º
438
0º
402
+90º
-178
+130º
-48
-100º
583
-100º
397
-90º
240
-100º
549
+130°
Product specification - IRB 1200
Pos 3
Axis 3
0º
-85º
+70º
-85º
-85º
-200º
+70º
-85º
-85º
-200°
3HAC046982-001 Revision: G
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