ABB IRB 4400 - Page 44

Technical specification
42 Product Specification IRB 4400 M98A/BaseWare OS 3.2
Type of motion Range of movement
Axis 1 Rotation motion +115
o
to -115
o
Axis 2 Arm motion +90
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 27 The extreme positions of the robot arm IRB 4400FS (dimensions in mm).
Pos 5
Pos 6
Pos 1
Pos 2
Pos 3
Pos 0
Pos 4
Z
X
1453*
2
3
9
0
1291*
1344*
1529*
1
3
8
0
2
4
3
2
3
7
0
9
7
9
1
8
1
3
9
0
0-30
o
IRB 4400FS
Pos
Axis 2 Axis 3
0
1
2
3
4
5
6
Positions (mm)
Angles (degrees)
XZ
no
1580 1720 0 0
1320 2390 0 -30
919
2360
239
484
725
383
120
-417
1804
1254
0
90
90
-70
-70
65
-60
44
40
65
7
0
8
Dimensions marked with * valid at 30
o
3
0
0
1720
(
10
40)
680
890
1
4
0
5
3
0
2
0
0
1
4
5
3
*
2
3
2