ABB IRB 6400R Product On-Line Manual page 150

Structure
Motor unit and
gearbox axis 3
Figure 2 The motion patterns of the IRB 2400.
Axis 6
Figure 3 The motion patterns of the IRB 4400.
4
Motor unit axis 4
Motor unit axis 5
Motor unit axis 6
Motor unit and
gearbox axis 1
Upper arm
Axis 5
Lower arm
Motor axis 3
Axis 3
Axis 4
Axis 2
Axis 1
Axis 4
Axis 3
Axis 1
System Description
Upper arm
Axis 6
Axis 5
Lower arm
Motor unit and
gearbox axis 2
Base
Motor axis 4
Motor axis 5
Motor axis 6
Axis 2
Motor axis 1
Motor axis 2
Base
Product Manual