Product On-line Manual IRB 6400R - PERG

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Technical specification Program stop sequence Action taken at program stop Change program sequence Action taken when a new program is loaded Working space Working space limitations External axes Number, type, common drive unit, mechanical units Brake delay time Time before brakes are engaged I/O signal Logical names of boards and signals, I/O mapping, cross connections, polarity, scaling, default value at start up, interrupts, group I/O Serial communication Configuration For a detailed description of the installation procedure, see the Product Manual - Installation and Commissioning. 24 Product Specification IRB 6400R M99/BaseWare OS 3.2
Mounting the manipulator Maximum load in relation to the base coordinate system. Endurance load Max. load at in operation emergency stop Force xy ±14000 N ±38000 N Force z 22000 ±8000 N 22000 ±19000 N Torque xy ±34000 Nm ±61000 Nm Torque z 7000 Nm ±15000 Nm 317.34 (4x) 243.5 (4x) (37.5°) (4x) B - B R 400 A - A 317.34 Figure 14 Hole configuration (dimensions in mm). Technical specification B B A A ∅ 0.4 Product Specification IRB 6400R M99/BaseWare OS 3.2 25 (4x) 243.5 (4x) (15°) (4x) 0 Y Z ∅ 53 (8x) ∅ 28 (8x) 15 +2 100 ∅ 45 H9 (4x) +0.5 0 X
Page 1 and 2: 3HAC 6264-1 M99 Product On-line Man
Page 3 and 4: ABB Flexible Automation AB Product
Page 5 and 6: CONTENTS Introduction 1 How to use
Page 7 and 8: Introduction 1 How to use this Manu
Page 9 and 10: . Figure 2 Identification plate on
Page 11 and 12: CONTENTS Product Specification IRB
Page 13 and 14: 1 Introduction Introduction Thank y
Page 15 and 16: 2 Description 2.1 Structure The rob
Page 17 and 18: 2.3 Operation Display Description R
Page 19 and 20: Description Using a key switch, the
Page 21 and 22: Editing programs Description Progra
Page 23 and 24: Description - Faults and major even
Page 25 and 26: Coordinate systems Z X Z Y Y X X Wo
Page 27 and 28: 2.10 Inputs and Outputs Description
Page 29 and 30: 3 Technical specification 3.1 Struc
Page 31 and 32: 3.2 Safety/Standards Technical spec
Page 33: 3.4 Installation Operating requirem
Page 37 and 38: Load diagram for IRB 6400R /2.5-150
Page 39 and 40: Handling capacity for IRB 6400R /2.
Page 41 and 42: Technical specification Mounting eq
Page 43 and 44: 150 75 50 M10 (4x) A 175 93 282 B -
Page 45 and 46: 3.5 Programming Technical specifica
Page 47 and 48: Technical specification DInput Read
Page 49 and 50: 3.6 Automatic Operation The followi
Page 51 and 52: Technical specification Velocity IR
Page 53 and 54: 3.10 Inputs and Outputs Types of co
Page 55 and 56: Technical specification Digital out
Page 57 and 58: 3.11 Communication Technical specif
Page 59 and 60: 4 Specification of Variants and Opt
Page 61 and 62: R1.SW1 Figure 31 Location of custom
Page 63 and 64: EQUIPMENT Specification of Variants
Page 65 and 66: Specification of Variants and Optio
Page 69 and 70: EXTERNAL CABLE LENGTH (for external
Page 77 and 78: 5 Accessories Accessories There is
Page 79 and 80: CONTENTS Product Specification Robo
Page 81 and 82: 1 Introduction Introduction RobotWa
Page 83 and 84: 2 BaseWare OS Rapid Language and En
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2.3 Motion Control TrueMove TM Moti
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2.4 Safety Safety Many safety conce
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3 BaseWare Options 3.1 Advanced Fun
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World Zones Advanced Functions 3.2
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RAPID instructions and functions in
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Contour tracking Advanced Motion 3.
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3.3 Multitasking Multitasking 3.2 U
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Examples of applications: FactoryWa
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3.6 Ethernet Services 3.2 NFS 3.2 F
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3.8 Interbus-S 3.2 Interbus-S 3.2 W
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Load Identification and Collision D
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Advanced Display functions Capaciti
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3.12 I/O Plus 3.2 I/O Plus 3.2 I/O
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4 ProcessWare 4.1 ArcWare 3.2 ArcWa
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ArcWare 3.2 Analog inputs (cont.) D
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4.3 SpotWare 3.2 SpotWare 3.2 SpotW
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manual close gun close gun manually
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4.4 SpotWare Plus 3.2 SpotWare Plus
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Interface signals GlueWare 3.2 When
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4.7 PaintWare 3.2 PaintWare 3.2 Pai
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4.8 PalletWare General PalletWare T
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User screens PalletWare The user in
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5 Memory and Documentation 5.1 Avai
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CONTENTS Safety 1 General..........
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Safety 1 General Safety This inform
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5 Safe Working Procedures Safety Sa
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7.2 Emergency stops Safety An emerg
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Safety When the Hold-to-run control
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8.2 Tools/workpieces Safety It must
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11 The following standards are of i
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We reserve all rights in this docum
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CONTENTS System Description 1 Struc
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System Description Structure 1 Stru
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System Description Structure Figure
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System Description Structure Motor
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System Description Structure 1.2 Co
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System Description Structure transf
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System Description Computer System
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System Description Servo System 3 S
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System Description I/O System 4 I/O
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System Description Safety System 5
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System Description Safety System 5.
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System Description External Axes 6
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CONTENTS Installation and Commissio
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CONTENTS Installation and Commissio
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Installation and Commissioning Tran
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Installation and Commissioning On-S
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Installation and Commissioning Conn
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Status LED’s Installation and Com
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Installation and Commissioning Inst
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Installation and Commissioning Exte
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CONTENTS Maintenance 1 Maintenance
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Maintenance Maintenance The robot i
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8 6 4 2 1 4 3 2 1 Diagram 1. Cablin
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2 Instructions for Maintenance 2.1
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3 2 1 4 Figure 4 Lubricating gearbo
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Type of grease - ABB art no. 1171 4
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2.7 Oil change gearbox, axis 4 Main
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2.9 Lubricating gearbox, axis 6 •
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2.11 Changing the battery in the me
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2.12 Changing filters/vacuum cleani
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CONTENTS Troubleshooting Tools 1 Di
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Troubleshooting Tools 1 Diagnostics
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1.1 Tests Troubleshooting Tools Mos
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Start up: 1.2.1 Entering the test m
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5. MC/ERWM RWM 1. Up one level 2. T
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5. Miscellaneous 1. Up one level 2.
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9. Specific test Specific test Txxx
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DSQC 361 F DSQC 3xx F 2.3 Main comp
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DSQC 334 DSQC 374/365 2.6 Power sup
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Status LED’s 2.7 Panel unit DSQC
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2.9 Analog I/O, DSQC 355 Bus staus
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2.11 Interbus-S, slave DSQC 351 RC
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2.13 Encoder interface unit, DSQC35
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2.14 Status LEDs description Troubl
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Module- and network status LEDs at
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RS 232 10 V 0 V 3.2 Signal descript
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3.3 X1 and X2 Serial links: SIO 1 a
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3.4.2 X9 VBATT 1 and 2 Battery back
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3.4.5 Disk drive Troubleshooting To
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X9 3.4.7 CAN Pin A C 25 CANRLY2 N C
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CONTENTS Fault tracing guide 1 Faul
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1 Fault tracing guide Fault tracing
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1.4 Robot computer DSQC 363 Fault t
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Inputs DI Name Meaning when “1”
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1.7 Serial Communication Fault trac
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1.11 Disk Drive 1.12 Fuses Fault tr
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Product Manual IRB 6400R This chapt
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Repairs CONTENTS Page 6.5 Parallel
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General Description Repairs Axis No
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General Description Repairs 1.2 Cau
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General Description Repairs Flange
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General Description Repairs 1.5 Tig
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Motor units Repairs 12 Product Manu
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Motors Axes 1-3 Repairs 3.2 Motor a
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Motors and Gears Axes 4-6 Repairs T
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Motors and Gears Axes 4-6 Repairs 4
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Motors and Gears Axes 4-6 Repairs T
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Balancing unit Repairs 13. Remove t
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Balancing unit Repairs 5.3 Replacin
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Arm System Repairs Mounting: 9. Pla
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Arm System Repairs 6.3 Balancing we
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Arm System Repairs 6.6 Inner Bearin
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Arm System Repairs 6.8 Gearbox 1-3
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Arm System Repairs 38 Product Manua
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Cabling Repairs 3 2 4 10. Fit the h
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Cabling Repairs 8 Pull the harness
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Cabling Repairs 7.3 Cabling, axis 6
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Cabling Repairs 46 Product Manual I
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Options Repairs 8.3 Position Switch
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Options Repairs 8.6 Fork Lift Devic
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Calibration Repairs System Requirem
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Calibration Repairs The axis of rot
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Calibration Repairs 14. The “Mast
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Onboard Calibration Repairs 10 Onbo
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Onboard Calibration Repairs Without
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Onboard Calibration Repairs Sensor
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Onboard Calibration Repairs Select
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Onboard Calibration Repairs Calcula
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Storing the values on the teach pen
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Special Tools List Repairs Play mea
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Special Tools List Repairs 80 Produ
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Part List and Spare Parts 4.6 Teach
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1.4 IRB 6400R / 2,8-200 Foldout 1:2
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Part List and Spare Parts Item Qty
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2.2 Labels and Plate Set Article No
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Item Qty Article No Name of Item Di
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2.5 Upper arm Complete Article No N
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Part List and Spare Parts Item Qty
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27 2 9ADA 629-56 Torx pan head roll
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2.9 Balancing Unit Article No Name
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2.11 Position Switch Axis1 Article
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2.14 Signal Lamp Article No Name Fo
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15 2 s 9ADA 183-71 t Hex socket hea
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Part List and Spare Parts Motor 3 +
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4 Part List / Spare Parts Controlle
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4.4 Mains Article No Name 3HAC 2412
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Article No Name 3HAC 1477-1 Part Li
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Part List and Spare Parts Product M
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Part List and Spare Parts Product M
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