ABB Robotics IRB 1520 Product Manual page 45

Illustration, unrestricted working range IRB 1520ID - 4/1.5
This illustration shows the unrestricted working range of the robot.
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Positions at wrist center and angle of axes 2 and 3
This table shows the distances to the different positions of the wrist center, shown
in the previous figures.
Position in the
figure
pos0
pos1
pos2
pos3
pos4 (restricted
working range)
pos4 (unrestric-
ted working
range)
pos5
Product manual - IRB 1520
3HAC043435-001 Revision: L
Positions at wrist center (mm)
X Z
883 1243
160 1793
482.7 365.4
1500 453
1073.2 -482.8
636.2 -192.3
-163.1 366.8
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2 Installation and commissioning
2.2.2 Working range
Angle (degrees)
axis 2
0º
0º
0º
+90º
+150º
+150º
+150º
Continues on next page
Continued
axis 3
0º
-74.5º
+80º
-74.5º
-100º
-180º
+80º
45