ABB Robotics IRB 1520 Product Manual page 65

Attachment holes and dimensions
Extra loads can be mounted on the wrist, the upper arm housing, and on the lower
arm. The attachment holes are shown in the figures in this section.
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Figure 2.2: Overview of attachment holes and dimensions
Product manual - IRB 1520
3HAC043435-001 Revision: L
2.3.7 Fitting equipment on the robot (robot dimensions)
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2 Installation and commissioning
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