Work Envelope
The work envelope is the 3D space a robot's tool can reach, bounded by reach and joint limits. It dictates where parts, fixtures, and machine doors must sit.
The work envelope (or working range) is the three-dimensional volume that a robot's tool centre point can physically reach, bounded by the arm's reach and each axis's travel limits. It is usually shown as a side and top diagram in the datasheet.
Cell layout starts from the work envelope: every part position, fixture, machine door, and drop-off must fall inside it, with margin for the tool's orientation. Mounting the robot on a pedestal, inverted, or on a rail reshapes the reachable space.
Always check the work envelope, not just the headline reach figure — wrist orientation and singularities can make parts of the nominal range unusable. The Robot Portal lists reach to help you confirm coverage early.