ABB IRB 2400/10, Product Specification

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1 Description
1.8.1 Introduction
38 Rev.N 3HAC 9112-1
Figure 19 The extreme positions of the robot arm (dimensions in mm).
Positions at wrist center (mm) and
Angle (degrees)
for IRB 2400/L:
Pos Description
A Wrist center
B Positions at wrist center (mm) and angle (degrees) see the following table
Position no
(see Figure 19) Position (mm)
X Position (mm)
Z
Angle
(degrees)
Axis 2 Angle
(degrees)
Axis 3
0 970 1620 0 0
1 404 2298 0 -60
2 602 745 0 65
3 1577 -246 110 -60
4 400 -403 110 24.5
5 -1611 623 -100 -60
6 -115 1088 -100 65
R=5
70
R
=4
00
Pos 4
Pos 4
Pos 5
Pos 6
Pos 2
Pos 1
Pos 3
R=
521
+
+
+
Axis 4
Axis 3
Axis 5 Axis 6
Axis 2
Axis 1
100
1810
1702
3421
2885
560
X
Z
+
Pos 0 (A)
+
(B)