ABB IRB 1200 Product Manual page 60

2 Installation and commissioning
2.2.6 Working range
Continued
Illustration, working range IRB 1200-5/0.9
IRB 1200-5/0.9 Working range, positions at wrist center and angle of axes 2 and 3
The illustration shows the unrestricted working range of the robot.
Pos 7
xx1300000387
Position in the
figure
Pos0
Pos1
Pos2
Pos3
Pos4
Pos5
Pos6
Pos7
Pos8
Pos9
Continues on next page
60
Pos 6
Pos 8
Pos 5
901
Positions at wrist center (mm)
X
451
0
194
901
692
-179
-72
-901
-887
458
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Pos 1
Z
Pos 0
Pos 9
Pos 2
X
Pos 4
901
Angle (degrees)
Z Axis 2
889 0º
1300 0º
438 0º
402 +90º
-178 +130º
-48 -100º
583 -100º
397 -90º
240 -100º
549 +130°
Pos 3
Axis 3
0º
-85º
+70º
-85º
-85º
-200º
+70º
-85º
-85º
-200°
Product manual - IRB 1200
3HAC046983-001 Revision: S