ABB IRB 4400 - Robot Motion

Technical specification
Product Specification IRB 4400 M98A/BaseWare OS 3.2 41
3.8 Robot Motion
Type of motion Range of movement
Axis 1 Rotation motion +165
o
to -165
o
Axis 2 Arm motion +95
o
to -70
o
Axis 3 Arm motion +65
o
to -60
o
Axis 4 Wrist motion +200
o
to -200
o
Axis 5 Bend motion +120
o
to -120
o
Axis 6 Turn motion +400
o
to -400
o
Figure 26 The extreme positions of the robot arm IRB 4400/45 and /60 (dimensions in mm).
Pos 4
Pos 5
Pos 6
Pos 2
Pos 1
Pos 3
890
(150)
1720
300
(1223)
370 200
X
IRB 4400/45 and /60
Pos 0
880
140
Z
390 530
732
1955
2140
680
Pos
Axis 2 Axis 3
0
1
2
3
4
5
6
Positions (mm)
Angles (degrees)
XZ
no
1080 1720 0 0
887 2140 0 -30
708
1894
570
51
227
836
221
-126
1554
1210
0
95
95
-70
-70
65
-60
40
40
65
232
290