ABB IRB 4400/60 Product Manual page 57

Positions at wrist center (mm) and angle (degrees):
Position no (see
figure above)
0
1
2
3
4
5
6
IRB 4400/L10
xx1300002627
Positions at wrist center (mm) and angle (degrees):
Position no (see
figure above)
0
Product manual - IRB 4400
3HAC022032-001 Revision: Q
Position (mm) X
1080
887
708
1894
570
51
227
Pos 1
85
Pos 0
Pos 3
(1477)
Position (mm) X
1700
© Copyright 2004-2018 ABB. All rights reserved.
2 Installation and commissioning
Position (mm) Z Angle (degrees)
Axis 2
1720 0
2140 0
836 0
221 95
-126 95
1554 -70
1210 -70
1500
Pos 5
Pos 6
Pos 2
Pos 4
300 200
1070
2547
Position (mm) Z Angle (degrees)
Axis 2
1720 0
2.3.2 Working range
Continued
Angle (degrees)
Axis 3
0
-30
65
-60
40
40
65
300
530
390
Angle (degrees)
Axis 3
0
Continues on next page
57