ABB IRB 6400R Product On-Line Manual page 147

1 Structure .......................................................................................................................... 3
1.1 Manipulator ............................................................................................................ 3
1.2 Controller................................................................................................................ 9
1.3 Electronics unit ....................................................................................................... 10
2 Computer System ............................................................................................................ 13
3 Servo System.................................................................................................................... 15
3.1 Principle function ................................................................................................... 15
3.2 Regulation............................................................................................................... 15
3.3 Controlling the robot .............................................................................................. 15
3.4 Overload protection ................................................................................................ 16
4 I/O System........................................................................................................................ 17
5 Safety System................................................................................................................... 19
5.1 The chain of operation............................................................................................ 19
5.2 MOTORS ON and MOTORS OFF modes............................................................. 20
5.3 Safety stop signals .................................................................................................. 20
5.4 Limitation of velocity ............................................................................................. 21
5.5 ENABLE ................................................................................................................ 21
5.6 24 V supervision..................................................................................................... 21
5.7 Monitoring .............................................................................................................. 21
6 External Axes................................................................................................................... 23
Product Manual
CONTENTS
System Description
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1