Working Range - ABB IRB 1100 Product Manual

2 Manipulator description

2.4 Working range

2.4 Working range
Illustration, working range IRB 1100-4/0.475
This illustration shows the unrestricted working range of the robot.
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Positions at wrist center and angle of axes 2 and 3
Position in the
figure
pos0
pos1
pos2
pos3
pos4
pos5
pos6
pos7
pos8
pos9
Continues on next page
46
Pos 1
Pos 6
Pos 7
Pos 5
Pos 8
Positions at wrist center (mm)
X
314
0
53.8
475
437.4
-248.2
-87.6
-475
-430.7
188.4
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Z
Pos 0
Pos 9
Pos 2
Pos 4
X
Angle (degrees)
Z axis 2
562 0°
802 0°
327 9.7°
327 90°
141.3 113°
327 -26.4°
453.4 -115°
327 -90°
126.2 -115°
488.6 113°
802.2
488.6
453.4
Pos 3
327
141.3
126.2
0
axis 3
0°
-87.7°
55°
-87.7°
-87.7°
-205°
55°
-87.7°
-87.7°
-205°
Product manual - IRB 1100
3HAC064992-001 Revision: L