2.2.2 Working range and type of motionWorking rangeThe figures show the working ranges of the robot.The extreme positions of the robot arm are specified at the wrist center (dimensionsin mm).Working rangeThe illustration shows the unrestricted working range of the robot.580 580112982R 556,1XPos 1Pos 0Pos 7Pos 8Pos 3Pos 4Pos 2Pos 6Pos 5Zxx0900000263Angle (degrees)Position at wrist center (mm)Posi-tion Axis 3Axis 2ZX0°0°630 mm302 mmA-77°0°870 mm0 mmB+70°0°300 mm169 mmC-77°+90°270 mm580 mmD-77°+110°91 mm545 mmE-110°-110°-50 mm-440 mmF+70°-110°445 mm-67 mmG-77°-90°270 mm-580 mmH-77°-110°91 mm-545 mmJContinues on next page60 Product manual - IRB 1203HAC035728-001 Revision: N© Copyright 2009-2017 ABB. All rights reserved.2 Installation and commissioning2.2.2 Working range and type of motion
