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Onboard Calibration Repairs
60 Product Manual IRB 6400R
Without CANBUS (See Figure 26 Connection without CANBUS)
4. Connect the 15 m cable from the I/O box to the connector X10 on the backplane of
the controler.
Note ! the terminating resistor switch on the I/O box should be turned ON.
5. Restart the system and load the program (see 10.3 Load the program on_board.prg.
load program).
6. Remove the calibration plate and cover on motor axis 6.
7. Remove the cover axis 4.
8. Attach the tool for calibration on axes 5 and 6.
9. Remove the protective cap from the sensors on axes 1-4.
10. Connect the cables from the box to the sensors on axes 1-6 see Figure 25 Connection
with CANBUS.
During Onboard calibration will the robot or the axes that is going to be calibrated move
towards the sensor (target) position.
Figure 26 Connection without CANBUS
Terminating resistor switch
I/O Box
15 m cable
- 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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