ABB M2004 - Page 43

1 Description
1.8.1 Introduction
3HAC9117-1 Rev.N 41
Figure 23 The extreme positions of the robot arm IRB 4400/45 and /60 (dimensions in mm).
Positions (mm) and Angles (degrees) for IRB 4400/45 and IRB 4400/60:
Position No.
(see Figure 23)
Position
(mm) X
Position
(mm) Z
Angle
(degrees)
Axis 2
Angle
(degrees)
Axis 3
0 1080 1720 0 0
1 887 2140 0 -30
2 708 836 0 65
3 1894 221 95 -60
4 570 -126 95 40
5 51 1554 -70 40
6 227 1210 -70 65