ABB IRB 6400R Product On-Line Manual page 40

Technical specification
30
Gripper
m
p
Part
A-movement, gripper perpendicular to axis 6
Gripper
m
g
Part
m
p
B-movement, gripper parallel to axis 6
TCP 0
Gripper
Part
a
Dimensions of gripper and part
Figure 20 Distances r and s (m).
Product Specification IRB 6400R M99/BaseWare OS 3.2
m
g
r
s
r
s
c
b