ABB IRB 6640 - 180/2.55 Product Manual page 53

Turning radius
The turning radius, shown as A in the figure below, is specified for the different robot models
below the figure.
xx0600003399
IRB 6640 - 2.55
IRB 6640 - 2.75
IRB 6640 - 2.8
IRB 6640 - 3.2
IRB 6640ID - 2.55
IRB 6640ID - 2.75
Type of motion
Axis
1
2
3
4
5
3HAC026876-001 Revision: C
Type of motion Range of movement Note
Rotation motion +170° to -170°
Arm motion +85º to -65º
Arm motion +70º to -180º
Wrist motion +300º to -300º
Bend motion IRB 6640:
+120º to -120º
IRB 6640ID:
+100º to -100º
2 Installation and commissioning
2.4.2. Working range and type of motion
2550 mm
2755 mm
2800 mm
3200 mm
2550 mm
2755 mm
Movement range can be set to:
+220º to -220º (option 561-1)
IRB 6640ID: the range of
movement is the combined value
for axis 4 and 6 together.
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