Working Range - ABB CRB 15000 Product Manual

2 Manipulator description

2.3 Working range

2.3 Working range
Illustration, working range CRB 15000
This illustration shows the unrestricted working range of the robot.
Pos 4
xx2000002410
Positions at intersection point of axes 4-5-6 and angle of axes 2 and 3
Position in the
figure
pos0
pos1
pos2
pos3
pos4
pos5
pos6
pos7
pos8
Continues on next page
40
Pos 1
Z
R951
Pos 6
Pos 5
Pos 3
Positions at wrist center (mm)
X Z
470 899
0 1216
951 265
0 -686
-951 265
-507 -179
-230.2 272.7
507 -179
198.1 287.6
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Pos 0
R230.3
R199.4
Pos 8
X
Pos 7
Angle (degrees)
axis 2
0°
0°
90°
180°
-90°
180°
180°
180°
180°
Product manual - CRB 15000
3HAC077389-001 Revision: A
1216
899
287.6
272.7
Pos 2
265
0
179
686
axis 3
0°
-68°
-68°
-68°
-68°
22°
85°
-158°
-225°