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Structure System Description
4 Product Manual
Figure 2 The motion patterns of the IRB 2400.
Figure 3 The motion patterns of the IRB 4400.
Motor unit axis 4
Motor unit axis 5
Upper arm
Motor unit and
gearbox axis 2
Base
Motor unit and
gearbox axis 3
Lower arm
Axis 1
Axis 2
Axis 3
Axis 4
Axis 5
Axis 6
Motor unit axis 6
Motor unit and
gearbox axis 1
Motor axis 4
Motor axis 5
Motor axis 6
Axis 2
Axis 1
Motor axis 1
Axis 3
Motor axis 2
Motor axis 3
Axis 4
Axis 5
Axis 6
Upper arm
Lower arm
Base
- Product On-line Manual 1
- IRB 6400R 1
- MAIN MENU 3
- Introduction 10
- CONTENTS 11
- 1 Introduction 13
- 2 Description 15
- Description 16
- 3 Technical specification 29
- Technical specification 30
- Not supplied 52
- 1 MANIPULATOR 59
- VARIANTS 59
- APPLICATION INTERFACE 60
- EQUIPMENT 63
- POSITION SWITCHES 64
- WORKING RANGE LIMIT 65
- 2 SAFETY STANDARDS 66
- UNDERWRITERS LABORATORY 66
- 3 CONTROL SYSTEM 66
- OPERATOR’S PANEL 67
- DOOR KEYS 69
- OPERATING MODE SELECTOR 69
- COOLING FOR DISK DRIVE 69
- TEACH PENDANT 69
- MAINS VOLTAGE 70
- MAINS CONNECTION TYPE 70
- MAINS SWITCH 70
- I/O INTERFACES 71
- SAFETY SIGNALS 72
- FIELD BUSES, SLAVE 72
- EXTERNAL I/O UNITS 73
- EXTERNAL FIELD BUSES 73
- MANIPULATOR CABLE 75
- SERVICE OUTLET 76
- POWER SUPPLY 76
- RAM MEMORY 76
- 5 Accessories 77
- Accessories 78
- 2 BaseWare OS 83
- Exception handling 84
- Motion Control 85
- 2.4 Safety 87
- I/O System 88
- 3 BaseWare Options 89
- Advanced Functions 3.2 90
- Advanced Motion 3.2 94
- Multitasking 3.2 97
- FactoryWare Interface 3.2 98
- RAP Communication 3.2 100
- Ethernet Services 3.2 101
- Profibus DP 3.2 102
- Interbus-S 3.2 103
- ScreenViewer 3.2 106
- Conveyor Tracking 3.2 108
- I/O Plus 3.2 109
- 4 ProcessWare 111
- ArcWare 3.2 112
- ArcWare Plus 3.2 114
- SpotWare 3.2 115
- SpotWare Plus 3.2 119
- GlueWare 3.2 120
- DispenseWare 3.2 122
- PaintWare 3.2 123
- PalletWare 125
- 5 Memory and Documentation 129
- Teach pendant language 130
- 2 Product Manual 132
- 1 General 133
- 3 Fire-Extinguishing 134
- 5 Safe Working Procedures 135
- 136
- 14 Limitation of Liability 144
- 15 Related Information 144
- 3HAB 3585-1 145
- To the User 146
- System Description 147
- 1 Structure 149
- Structure System Description 150
- System Description Structure 151
- 2 Computer System 159
- 14 Product Manual 160
- 3 Servo System 161
- 3.4 Overload protection 162
- 4 I/O System 163
- I/O System System Description 164
- 5 Safety System 165
- 5.3 Safety stop signals 166
- 5.4 Limitation of velocity 167
- 5.5 ENABLE 167
- 5.6 24 V supervision 167
- 5.7 Monitoring 167
- 22 Product Manual 168
- Not supplied on delivery 169
- 24 Product Manual 170
- 1 Transporting and Unpacking 175
- 1.2 System diskettes 176
- 2 On-Site Installation 177
- 8 Product Manual IRB 6400R 178
- Fork lift for: 178
- Min. 60° 179
- Figure 5 Base Plate 181
- Figure 6 base Plate Measures 182
- Figure 7 Orientation holes 182
- 2.3 Stress forces 184
- 2.4 Amount of space required 185
- 16 Product Manual IRB 6400R 186
- 2.4.2 Controller 186
- 18 Product Manual IRB 6400R 188
- Brake release 188
- Restricted Working space 189
- 20 Product Manual IRB 6400R 190
- Movable stop 190
- Holes for extra stops 190
- Fixed stop 190
- Product Manual IRB 6400R 23 193
- 685 (/2.5-X) 194
- 1030 (/2.8-X) 194
- 1235 (/3.0-X) 194
- 2.8 Loads 195
- 26 Product Manual IRB 6400R 196
- 2.11 Mains power connection 198
- 30 Product Manual IRB 6400 200
- 2.13 Start-up 201
- Product Manual IRB 6400 33 203
- 3 Connecting Signals 207
- 3.3 Interference elimination 208
- 3.4 Connection types 208
- 3.5 Connections 209
- 42 Product Manual IRB 6400R 212
- With INTERBUS-S / PROFIBUS 212
- Figure 34 Customer connector 215
- Figure 35 Burndy connector 215
- ANY EXTERNAL EQUIPMENT 221
- 3.11 External safety relay 224
- 3.13 Available voltage 225
- 3.14 External 24 V supply 226
- 3.16 Distributed I/O units 231
- X10 CAN3 232
- X16 CAN2 232
- 87654321 235
- 161514131211109 235
- ABB flexible Automation 241
- ABB Flexible Automation 244
- Interbus-S 255
- Profibus 258
- 3.18 Communication 260
- External panel enclosure 264
- (not supplied) 264
- 4.1 System diskettes 265
- 4.3 Cold start 267
- Manipulator Parameters 268
- Product Manual IRB 6400R 99 269
- 2. Select File:Save All As 269
- Guide, System Parameters 269
- 100 Product Manual IRB 6400R 270
- 5 External Axes 271
- 5.2 Easy to use kits 273
- Atlas DMC 274
- * See connec 277
- D-Sub 9 pin 279
- D-Sub 15 socket 279
- D-Sub 25 pin 279
- D-Sub 25 socket 279
- R2.SMB 1-4 280
- R2.SMB 3-6 R2.SMB 1-2 280
- Unit number 282
- Figure 75 Motor connections 285
- 118 Product Manual IRB 6400R 288
- Maintenance 291
- Troubleshooting Tools 311
- Fault tracing guide 351
- 1 Fault tracing guide 353
- Product Manual IRB 6400R 363
- 1 General Description 366
- General Description Repairs 367
- Repairs General Description 368
- 2 Motor units 374
- Motor units Repairs 375
- 3 Motors Axes 1-3 376
- Motors Axes 1-3 Repairs 377
- 4 Motors and Gears Axes 4-6 378
- 4.2 Intermediate gear 379
- 4.3 Axes 5 and 6 380
- 4.4 Wrist 381
- 4.5 Arm extender 382
- 4.6 Dismounting Motor axis 5 383
- 4.7 Motor/gear axis 6 384
- Wrist centre 385
- 4.9 Adjusting play in axis 5 386
- 5 Balancing unit 388
- Balancing unit Repairs 389
- Repairs Balancing unit 390
- 6 Arm System 392
- Arm System Repairs 393
- Repairs Arm System 394
- 7 Cabling 402
- Cabling Repairs 403
- Repairs Cabling 404
- 8 Options 410
- Options Repairs 411
- Repairs Options 412
- 9 Calibration 414
- Calibration Repairs 415
- Repairs Calibration 416
- 10 Onboard Calibration 421
- Repairs Onboard Calibration 422
- Onboard Calibration Repairs 423
- Robot Not Calibrated 430
- • Select the window SERVICE; 437
- 12 Special Tools List 438
- Special Tools List Repairs 439
- Repairs Special Tools List 440
- Part List and Spare Parts 442
- 1 Rebuilding Parts 444
- 2 Part List Manipulator 446
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