ABB CRB 15000 Product Manual page 49

Illustration, working range CRB 15000-12/1.27
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 - CRB 15000
3HAC077389-001 Revision: L
R1381
Pos4
Pos5
Positions at wrist center (mm)
X
635
0
1381
0
-1381
-674
-193
674
370.6
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2 Manipulator description
Pos1
Z
Pos6
Pos8
X
Pos3
Angle (degrees)
Z axis 2
1235 0°
1719 0°
338 90°
-1043 180°
338 -90°
-369 180°
276.8 180°
-369 180°
194 180°
2.4 Working range
Continued
1719
1235
R397.6
R202.5
Pos2
338
276.8
194
0
369
Pos7
1043
axis 3
0°
-78.4°
-78.4°
-78.4°
-78.4°
11.6°
85°
-168.4°
-225°
Continues on next page
49