Working Range And Type Of Motion - ABB IRB 120 Product Manual

2.2.2. Working range and type of motion

Working range
The figures show the working ranges of the robot.
The extreme positions of the robot arm are specified at the wrist center (dimensions in mm).
Working range
The illustration shows the unrestricted working range of the robot.
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Pos
A
B
C
D
E
F
G
H
J
3HAC035728-001 Revision: B
Position at wrist center (mm)
X Z
302 mm 630 mm
0 mm 870 mm
169 mm 300 mm
580 mm 270 mm
545 mm 91 mm
-513 mm 28 mm
-67 mm 445 mm
-580 mm 270 mm
-545 mm 91 mm
2 Installation and commissioning
2.2.2. Working range and type of motion
Angle (degrees)
Axis 2
0°
0°
0°
+90°
+110°
-110°
-110°
-90°
-110°
Continues on next page
Axis 3
0°
-76.9°
+70.0°
-76.9°
-76.9°
-90.0°
+70.0°
-76.9°
-76.9°
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