ABB IRB 6400R - Page 151

System Description Structure
Product Manual 5
Figure 4 The motion patterns of the IRB 6400.
Figure 5 The motion patterns of the IRB 6400R M99.
Base
Axis 1
Lower arm
Axis 2
Motor axis 2
Motor axis 6
Axis 5
Axis 3
Upper arm
Motor axis 5
Motor axis 4
Motor axis 1
Motor axis 3
Axis4