ABB IRB 2400/L - Page 42

1 Description
1.8.1 Introduction
40 Rev.N 3HAC 9112-1
Figure 20 The extreme positions of the robot arm (dimensions in mm).
Positions at wrist center (mm) and Angle (degrees) for IRB 2400/10 and
IRB 2400/16:
Pos Description
A Wrist center
B Positions at wrist center (mm) and angle (degrees) see the following table
Position no
(see Figure 20)
Position (mm)
X
Position (mm)
Z
Angle
(degrees)
Axis 2
Angle
(degrees)
Axis 3
0 855 1455 0 0
1 360 2041 0 -60
2 541 693 0 65
3 1351 -118 110 -60
4 400 -302 110 18.3
5 -1350 624 -100 -60
6 -53 1036 -100 65
Pos 4
Pos 5
Pos 6
Pos 2
Axis 3
Axis 5 Axis 6
Axis 2
Pos 3
+
+
+
+
Axis 4
+
R
=
4
4
8
Pos 1
Axis 1
1441
100
1550
393
2458
2900
X
Z
Pos 0 (A)
R
=
5
7
0
R
=
4
0
0
Pos 4
(B)