ABB IRB 1090, Product Specification

Page: 40 / 74

1.8 Robot motion
1.8.1 Working range
Illustration, working range IRB 1090-3.5/0.58
This illustration shows the unrestricted working range of the robot.
580 580
327
300
10
280
907
0
26.4 41.4
107
539.5 579.5 547.5 580.5 251.1
0
9.5
144.3
115.5
134.3
327.1
477.1
526.4
907
0
319.8
0
185.1
0
9.6
X
Z
Pos 1
Pos 0
Pos 9
Pos 3
Pos 4
Pos 5
Pos 6
Pos 7
Pos 8
Pos 2
xx2300001049
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° 617 364 pos0
-88° 0° 907.2 0 pos1
55° 12.5° 327 184.6 pos2
-88° 90° 327 580 pos3
-88° 113° 100.3 534 pos4
-205° -28.3° 327 -304 pos5
55° -115° 473.5 -112.4 pos6
-88° -90° 327 -580 pos7
-88° -115° 81.8 -525.8 pos8
-205° 113° 517.1 237.3 pos9
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40 Product specification - IRB 1090
3HAC088057-001 Revision: B
© Copyright 2023 ABB. All rights reserved.
1 Description
1.8.1 Working range