ABB Robotics IRB 4600 Manual page 50

2 Installation and commissioning
2.2.2 Working range and type of motion
Continued
Turning radius
The turning radius of the robot that is floor or suspended mounted is shown in the
figure.
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Variant
IRB 4600 - 60/2.05
IRB 4600 - 45/2.05
IRB 4600 - 40/2.55
IRB 4600 - 20/2.50
Robot motion, IRB 4600-60/2.05, -45/2.05, -40/2.55
The table specifies the types and ranges of motion in every axes.
Location of motion
Axis 1
Axis 2
Axis 3
Axis 4
Axis 5
Axis 6
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50
+180°
-180°
Pos. A
R2051
R2051
R2552
R2513
Type of motion
Rotation motion
Arm motion
Arm motion
Wrist motion
Bend motion
Turn motion
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Pos. B
R593
R593
R680
R665
Range of movement
±180°
+150° / -90°
+75° / -180°
±400°
+120° / -125°
±400°
Product manual - IRB 4600
3HAC033453-001 Revision: Y