Working Range - ABB IRB 1010 Product Manual

2.4 Working range

Illustration, working range IRB 1010-1.5/0.370
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
Product manual - IRB 1010
3HAC081964-001 Revision: B
Pos 8
Pos 6
363,7
Positions at wrist center (mm)
X
+185
0
+118.9
+370
+303.1
+270.5
-226.6
-11.0
-357.4
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2 Manipulator description
Pos 1
Z
Pos 7
Pos 2
Pos 5
X
Pos 4
370
Angle (degrees)
Z axis 2
+375 0°
+560 0°
+233.3 0°
+190 +90°
-22.2 +125°
+225.6 +125°
+59.2 -75°
+316.1 -75°
+285.8 -75°
2.4 Working range
Pos 3
axis 3
0°
-90°
+50°
-90°
-90°
-180°
-180°
+50°
-90°
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