ABB IRB 120 Product Manual page 52

2 Installation and commissioning
2.2.2. Working range and type of motion
Continued
Turning radius
The turning radius of robot is shown in the figure.
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Robot variant
IRB 120-3/0.6
1)
Robot motion
The table specifies the types and ranges of motion in every axes.
Location of motion
Axis 1
Axis 2
Axis 3
Axis 4
Axis 5
Axis 6
50
Pos. A
R121
Minimum turning radius axis 1.
Pos. B
1)
R580
Type of motion
Rotation motion
Arm motion
Arm motion
Wrist motion
Bend motion
Turn motion
Pos. C
R169.4
Range of movement
+165° to -165°
+110° to -110°
+70° to -90°
+160° to -160°
+120° to -120°
+400° to -400°
3HAC035728-001 Revision: B