Robot Motion - ABB IRB 4400 Manual

3.8 Robot Motion

Type of motion
Axis 1 Rotation motion
Axis 2 Arm motion
Axis 3 Arm motion
Axis 4 Wrist motion
Axis 5 Bend motion
Axis 6 Turn motion
IRB 4400/45 and /60
Pos 3
X
Figure 26 The extreme positions of the robot arm IRB 4400/45 and /60 (dimensions in mm).
Product Specification IRB 4400 M98A/BaseWare OS 3.2
Range of movement
o
+165
o
+95
o
+65
o
+200
o
+120
o
+400
140
880
Pos 1
Pos 0
232
Pos 2
Pos 4
(1223)
1955
Technical specification
o
to -165
o
to -70
o
to -60
o
to -200
o
to -120
o
to -400
Z
300
Pos 5
Pos 6
370 200
390 530
732
Pos Positions (mm)
no X Z
0 1080 1720
1 887 2140
2 708 836
3 1894 221
4 570 -126
5 51 1554
6 227 1210
(150)
890
2140
1720
680
290
Angles (degrees)
Axis 2 Axis 3
0 0
0 -30
0 65
95 -60
95 40
-70 40
-70 65
41