ABB M2004 - Page 45

1 Description
1.8.1 Introduction
3HAC9117-1 Rev.N 43
Figure 24 The extreme positions of the robot arm IRB 4400/L30 (dimensions in mm).
Positions (mm) and Angles (degrees) for IRB 4400/L30:
Position No.
(see Figure 24)
Position
(mm) X
Position
(mm) Z
Angle
(degrees)
Axis 2
Angle
(degrees)
Axis 3
0 1580 1720 0 0
1 1320 2390 0 -30
2 919 383 0 65
3 2303 -66 95 -60
4 180 -448 95 42
5 484 1804 -70 40
6 725 1254 -70 65