ABB IRB 6400R - Page 150

Structure System Description
4 Product Manual
Figure 2 The motion patterns of the IRB 2400.
Figure 3 The motion patterns of the IRB 4400.
Motor unit axis 4
Motor unit axis 5
Upper arm
Motor unit and
gearbox axis 2
Base
Motor unit and
gearbox axis 3
Lower arm
Axis 1
Axis 2
Axis 3
Axis 4
Axis 5
Axis 6
Motor unit axis 6
Motor unit and
gearbox axis 1
Motor axis 4
Motor axis 5
Motor axis 6
Axis 2
Axis 1
Motor axis 1
Axis 3
Motor axis 2
Motor axis 3
Axis 4
Axis 5
Axis 6
Upper arm
Lower arm
Base