ABB IRB 6400R - Page 154

Structure System Description
8 Product Manual
.
Figure 8 The motion patterns of the IRB 340.
Axis 2
Axis 1
Axis 3
Axis 4,
Bars (x3)
Upper arm (x3)
telescopic shaft
Swivel
Axis 2
Axis 3
X
Y
Z
Base box
(option)
Motors
encapsulated