Working Range - ABB CRB 15000 Product Manual

2.4 Working range

Illustration, working range CRB 15000-5/0.95
This illustration shows the unrestricted working range of the robot.
Pos 4
xx2000002410
Positions at intersection point of axes 4-5-6 and angle of axes 2 and 3
Position in
the figure
pos0
pos1
pos2
pos3
pos4
pos5
pos6
pos7
pos8
Product manual - CRB 15000
3HAC077389-001 Revision: L
Pos 1
R951
Pos 6
Pos 5
Pos 3
Positions at wrist center
(mm)
X Z
470 899
0 1216
951 265
0 -686
-951 265
-507 -179
-230.2 272.7
507 -179
198.1 287.6
© Copyright 2021 - 2023 ABB. All rights reserved.
2 Manipulator description
Z
Pos 0
R230.3
R199.4
Pos 8
X
Pos 7
Angle (degrees)
axis 2 axis 3
0° 0°
0° -68°
90° -68°
180° -68°
-90° -68°
180° 22°
180° 85°
180° -158°
180° -225°
Continues on next page
2.4 Working range
1216
899
287.6
272.7
Pos 2
265
0
179
686
axis 5
0°
0°
0°
0°
0°
0°
0°
0°
0°
47