2 Installation and commissioning

2.2.4. Working range, IRB 4400/L10

2.2.4. Working range, IRB 4400/L10

Extreme positions
The illustration below shows the extreme positions of the robot arm IRB 4400/L10:

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Position in Position X Position Z Angle Axis 2 Angle Axis 3

illustration (mm) (mm) (degrees) (degrees)
B 1700 1720 0 0
C 1424 2450 0 -30
D 970 274 0 65
E 2401 -135 95 -60
F 500 -786 95 23.6 © Copyright 2004-2008 ABB. All rights reserved.
G 588 1864 -70 40
H 845 1265 -70 65

Robot motion
The table below specifies the types and ranges of the robot motion in every axis.

Location of motion Type of motion Range of movement

Axis 1 Rotation motion +165° to -165°
Axis 2 Arm motion +95° to -70°
Axis 3 Arm motion +65° to -60°
Axis 4 Wrist motion +200° to -200°
Axis 5 Bend motion +120° to -120°
Axis 6 Turn motion +400° to -400°

44 3HAC022032-001 Revision: E