1 Description
1.8.1 Introduction
40
Rev.N
3HAC 9112-1
Figure 20 The extreme positions of the robot arm (dimensions in mm).
Positions at wrist center (mm) and Angle (degrees) for IRB 2400/10 and
IRB 2400/16:
Pos
Description
A
Wrist center
B
Positions at wrist center (mm) and angle (degrees) see the following table
Position no
(see Figure 20)
Position (mm)
X
Position (mm)
Z
Angle
(degrees)
Axis 2
Angle
(degrees)
Axis 3
0
855
1455
0
0
1
360
2041
0
-60
2
541
693
0
65
3
1351
-118
110
-60
4
400
-302
110
18.3
5
-1350
624
-100
-60
6
-53
1036
-100
65
Pos 4
Pos 5
Pos 6
Pos 2
Axis 3
Axis 5
Axis 6
Axis 2
Pos 3
+
+
+
+
Axis 4
+
R=
448
Pos 1
Axis 1
1441
100
1550
393
2458
2900
X
Z
Pos 0 (A)
R=5
70
R
=4
00
Pos 4
(B)
