ABB IRB 6400R Product On-Line Manual page 149

System Description
1 Structure
The robot is made up of two main parts, manipulator and controller, described in sec-
tions 1.1 and 1.2.
1.1 Manipulator
It is equipped with maintenance-free, AC motors which have electromechanical
brakes. The brakes lock the motors when the robot is inoperative for more than 1000
hours. The time is configurabble for the user.
The following figures shows the various ways in which the different manipulators
moves and its component parts.
Motor axis 5
Motor axis 6
Motor axis 4
Motor axis 1
Motor axis 3
Figure 1 The motion patterns of the IRB 1400 and IRB 140.
Product Manual
Axis 2
Axis 3
Axis 4
Upper arm
Lower arm
Motor axis 2
Axis 1
Base
Structure
Axis 5
Axis 6
3