ABB Robotics IRB 1100, Product Manual

Page: 43 / 616

2.3 Working range
Illustration, working range IRB 1100-4/0.475
This illustration shows the unrestricted working range of the robot.
0
153.8 188.4
475
437.4
87.6
248.2 430.7
475
0
126.2
141.3
327
453.4
488.6
802.2
Z
X
Pos 1
Pos 7
Pos 8
Pos 5
Pos 6
Pos 2
Pos 9
Pos 3
Pos 4
Pos 0
xx1800002437
Positions at wrist center and angle of axes 2 and 3
Angle (degrees) Positions at wrist center (mm) Position in the
figure
axis 3 axis 2 Z X
0° 0° 562 314 pos0
-87.7° 0° 802 0 pos1
55° 9.7° 327 53.8 pos2
-87.7° 90° 327 475 pos3
-87.7° 113° 141.3 437.4 pos4
-205° -26.4° 327 -248.2 pos5
55° -115° 453.4 -87.6 pos6
-87.7° -90° 327 -475 pos7
-87.7° -115° 126.2 -430.7 pos8
-205° 113° 488.6 188.4 pos9
Continues on next page
Product manual - IRB 1100 43
3HAC064992-001 Revision: C
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2 Technical data
2.3 Working range