ABB IRB 1090 Product Specification page 47

Extension zones
The extension zone for the stop category 1 is based on the tool mounting interface
(tool flange) with the axis angles according to the following illustrations. The zone
data is presented for the respective robot variant.
The extension zone outer limits are defined by the TCP0 position for the stated
angles.
Axis 1
Axis 2
Product specification - IRB 1090
3HAC088057-001 Revision: B
1.9.1 Robot stopping distances according to ISO 10218-1
Illustration
xx2300000860
xx2300000861
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1 Description
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