Technical specification
30 Product Specification IRB 6400R M99/BaseWare OS 3.2
Figure 20 Distances r and s (m).
Gripper
m
g
r
s
m
p
A-movement, gripper perpendicular to axis 6
Part
B-movement, gripper parallel to axis 6
Gripper
r
s
m
p
m
g
Dimensions of gripper and part
TCP 0
c
a
Gripper
b
Part
Part
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