ABB Robotics IRB 1520 Product Manual page 46

2 Installation and commissioning
2.2.2 Working range
Continued
Position in the
figure
pos6
pos7
pos8 (restricted
working range)
pos8 (unrestric-
ted working
range)
Turning radius
xx1100000308
A
Working range
Axis
Axis 1
Axis 2
Continues on next page
46
Positions at wrist center (mm)
246.8
-1180
-1106.9
-574.1
Minimum turning radius of axis 1
IRB 1520ID - 4/1.5
+170º to -170º
+150º to -90º
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Angle (degrees)
775.9 -90º
453 -90º
130.1 -90º
-938.9 -90º
Note
+80º
-74.5º
-100º
-180º
Product manual - IRB 1520
3HAC043435-001 Revision: L