ABB IRB 6400R - Robot Motion

Technical specification
40 Product Specification IRB 6400R M99/BaseWare OS 3.2
3.8 Robot Motion
IRB 6400R /2.5-120, /2.5-150, /2.5-200, /2.8-150, /2.8-200 and /3.0-100
Type of motion Range of movement
Axis 1 Rotation motion +180
o
to -180
o
Axis 2 Arm motion +85
o
to -70
o
Axis 3 Arm motion +110
o
to -28
o
Axis 4 Wrist motion +300
o
to -300
o
Axis 5 Bend motion +120
o
to -120
o
Axis 6 Turn motion +300
o
to -300
o
Figure 26 The extreme positions of the robot arm
909
1083
1229
2469
2800
2999
305
645
848
2600
2762
2859
1
2
3
4
5
6
0
2.5-X
2.8-X
3.0-X
pos. axis 2
(ϕ2)
axis 3
(ϕ3)
0
1
2
3
4
5
6
0
-70
-70
43
85
85
37
0
-28
-3
11 0
11 0
20
-28
Min. 23
o
Max. 155
o
90
o
at pos. 0
1415
185
415
766
1096
2467
1804
2075
1909
1445
387
-290
701
2389
1760
490
760
648
978
2791
2108
2075
2071
1463
63
-614
583
2551
1965
671
964
578
908
2984
2289
0
1
2
3
4
5
6
Positions at wrist centre (mm)
Pos.
2.5
3.0-2002.8-150 -200
xzzzxx
Angle ϕ2, ϕ3 (degrees)
Angle 2/3 (ϕ2/ϕ3)
All dimensions refer to the wrist centre (mm)
-120 -150 -200
2075
2168
1474
-130
-806
513
2647
ϕ2
ϕ2/ϕ3
ϕ3
X
Z
+
+