ABB IRB 6400R - Page 33

2 Reference information
2.7. Positions and directions of sensor
313HAC 022907-001 Revision: -
Sensor position and direction, IRB 4400
This section specifies the position and alignment of the calibration sensor at the reference
plane and on each axis of IRB 4400.
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A Flange plate
B Axis 2 sensor
B1 Axis 2 sensor, view from above
C Axis 3 sensor
D Axis 4 sensor
E Axis 5 sensor
F Axis 6 sensor
G Upper arm, view from above
H Direction for sensor at reference plane, axis 2, 3 and 5
I Direction for sensor at reference plane, axis 4 and 6