Robot Motion; Introduction - ABB IRB 6620 Product Specification

1.8 Robot Motion

1.8.1 Introduction

Type of Motion
Axis Type of motion
3HAC 025861-001
1 Rotation motion
2 Arm motion
3 Arm motion
4 Wrist motion
5 Bend motion
6 Turn motion
a. The default working range for axis 6 can be extended by changing parameter
values in the software.
Option 610-1 "Independent axis" can be used for resetting the revolution counter
after the axis has been rotated (no need for "rewinding" the axis).
Range of movement
IRB 6620-150/2.2
+ 170° to - 170°
+ 140° to - 65°
+ 70° to - 180°
+ 300° to - 300°
+ 130° to - 130° (Limitations with DressPack)
+ 300° to - 300° default
Max. ± 96 Revolutions
Rev.E
1 Description
1.8.1 Introduction
a
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