ABB Robotics IRB 4600 Manual page 51

Robot motion, IRB 4600-20/2.50
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
Product manual - IRB 4600
3HAC033453-001 Revision: Y
Type of motion
Rotation motion
Arm motion
Arm motion
Wrist motion
Bend motion
Turn motion
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2 Installation and commissioning
2.2.2 Working range and type of motion
Range of movement
±180°
+150° / -90°
+75° / -180°
±400°
±120°
±400°
Continued
51