Working Range, Irb 4450S - ABB IRB 4400 - 45 Product Manual

2 Installation and commissioning

2.2.6. Working range, IRB 4450S

2.2.6. Working range, IRB 4450S
Extreme positions
The illustration below shows the extreme positions of the robot arm IRB 4450S:
X
xx0500002034
Positions in
illustration
B
C
D
E
F
G
H
Robot motion
The table below specifies the types and ranges of the robot motion in every axis.
Location of motion Type of motion
Axis 1
Axis 2
Axis 3
Axis 4
Axis 5
Axis 6
46
645
G
C
H
B
D
E
1176
2400
Position X Position Z
(mm) (mm)
2006 556
2190 978
1101 239
1437 -1054
294 -303
1195 1208
1058 847
Rotation motion
Arm motion
Arm motion
Wrist motion
Bend motion
Turn motion
Z
F
530
390
570
Angle Axis 2
(degrees)
0
0
0
95
95
-70
-70
Range of motion
+135° to -135°
+90° to -70°
+65° to -60°
+200° to -200°
+120° to -120°
+400° to -400°
3HAC022032-001 Revision: E
Angle Axis 3
(degrees)
0
-30
65
-60
40
40
65