ABB CRB 15000 Product Manual page 48

2 Manipulator description
2.4 Working range
Continued
Illustration, working range CRB 15000-10/1.52
This illustration shows the unrestricted working range of the robot.
xx2300000575
Positions at wrist center and angle of axes 2 and 3
Position in the
figure
pos0
pos1
pos2
pos3
pos4
pos5
pos6
pos7
pos8
Continues on next page
48
R1482.3
Pos4
Pos5
Positions at wrist center (mm)
X
888
150
1632.3
150
-1332.3
-625.3
-48
925.3
596.9
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Pos1
Z
R452.9
R202.6
Pos6
Pos8
Pos3
Angle (degrees)
Z axis 2
1297 0°
1882.3 0°
400 90°
-1082.3 180°
400 -90°
-307 180°
442.6 180°
-307 180°
326.5 180°
Pos0
Pos2
X
Pos7
axis 3
0°
-80.2°
-80.2°
-80.2°
-80.2°
9.8°
85°
-170.2°
-225°
Product manual - CRB 15000
3HAC077389-001 Revision: L
1882.3
1297
442.6
400
326.5
0
307
1082.3