ABB IRB 4400 - Page 45

Technical specification
Product Specification IRB 4400 M98A/BaseWare OS 3.2 43
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 28 The extreme positions of the robot arm IRB 4400L/30 (dimensions in mm).
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
2303
180
484
725
383
-66
-448
1804
1254
0
95
95
-70
-70
65
-60
42
40
65
300
Z
1380
Pos 1
140
232
IRB 4400L/30
Pos 5
Pos 6
1
8
4
Pos 3
X
2390
786
1453
2432
530
390
370
200
979
680
1720
890
(150)
Pos 4
Pos 0
Pos 2