ABB CRB 15000, Product Manual, Page: 47 / 1096

2.4 Working range
Illustration, working range CRB 15000-5/0.95
This illustration shows the unrestricted working range of the robot.
R951
R199.4
R230.3
0
686
179
287.6
272.7
899
1216
265
0
951 507 507
198.1 230.2
951 470
Pos 0
Pos 3
Pos 4
Pos 5
Pos 8
Pos 6
Pos 7
X
Z
Pos 1
Pos 2
xx2000002410
Positions at intersection point of axes 4-5-6 and angle of axes 2 and 3
Angle (degrees) Positions at wrist center
(mm) Position in
the figure
axis 5 axis 3 axis 2 Z X
0° 0° 0° 899 470 pos0
0° -68° 0° 1216 0 pos1
0° -68° 90° 265 951 pos2
0° -68° 180° -686 0 pos3
0° -68° -90° 265 -951 pos4
0° 22° 180° -179 -507 pos5
0° 85° 180° 272.7 -230.2 pos6
0° -158° 180° -179 507 pos7
0° -225° 180° 287.6 198.1 pos8
Continues on next page
Product manual - CRB 15000 47
3HAC077389-001 Revision: L
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2 Manipulator description
2.4 Working range