ABB IRB 2400/L - Page 40

1 Description
1.8.1 Introduction
38 Rev.N 3HAC 9112-1
Figure 19 The extreme positions of the robot arm (dimensions in mm).
Positions at wrist center (mm) and Angle (degrees) for IRB 2400/L:
Pos Description
A Wrist center
B Positions at wrist center (mm) and angle (degrees) see the following table
Position no
(see Figure 19)
Position (mm)
X
Position (mm)
Z
Angle
(degrees)
Axis 2
Angle
(degrees)
Axis 3
0 970 1620 0 0
1 404 2298 0 -60
2 602 745 0 65
3 1577 -246 110 -60
4 400 -403 110 24.5
5 -1611 623 -100 -60
6 -115 1088 -100 65
R
=
5
7
0
R
=
4
0
0
Pos 4
Pos 4
Pos 5
Pos 6
Pos 2
Pos 1
Pos 3
R
=
5
2
1
+
+
+
Axis 4
Axis 3
Axis 5 Axis 6
Axis 2
Axis 1
100
1810
1702
3421
2885
560
X
Z
+
Pos 0 (A)
+
(B)