Robot Motion - ABB IRB 6400R Product On-Line Manual

Technical specification

3.8 Robot Motion

IRB 6400R /2.5-120, /2.5-150, /2.5-200, /2.8-150, /2.8-200 and /3.0-100
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
Z
All dimensions refer to the wrist centre (mm)
-120 -150 -200
Pos. x
0 1415
1
2
3
4 1096
5 2467
6 1804
40
1
ϕ3
0
+
ϕ2/ϕ3
2
ϕ2
+
3
4
909
1083
1229
2469
2800
2999
Positions at wrist centre (mm)
2.5
2.8-150 -200
z x
2075 1760
185 1909 490
415 1445 760
766 387 648
-290 978
701 2791
2389 2108
Figure 26 The extreme positions of the robot arm
Product Specification IRB 6400R M99/BaseWare OS 3.2
Range of movement
o o
+180 to -180
o o
+85 to -70
o o
+110 to -28
o o
+300 to -300
o o
+120 to -120
o o
+300 to -300
6
3.0-X
2.8-X
2.5-X
5
3.0-200
z x z
2075 1965 2075
2071 671 2168
1463 964 1474
63 578 -130
-614 908 -806
583 2984 513
2551 2289 2647
X
Angle 2/3 (ϕ2/ϕ3)
o o
Min. 23 Max. 155
o
90 at pos. 0
Angle ϕ2, ϕ3 (degrees)
pos. axis 2 axis 3
(ϕ2) (ϕ3)
0 0 0
1 -70 -28
2 -70 -3
3 43 110
4 85 110
5 85 20
6 37 -28