Operation - ABB IRB 6400R Product On-Line Manual

Restricting the working space
The movement of each axis can be restricted using software limits. Axes 1-3 can also
be restricted by means of mechanical stops.
Hold-to-run control
"Hold-to-run" means that you must depress the start button in order to move the robot. When
the button is released the robot will stop. The hold-to-run function makes program testing
safer.
Fire safety
Both the manipulator and control system comply with UL's (Underwriters Laboratory)
tough requirements for fire safety.
Safety lamp
As an option, the robot can be equipped with a safety lamp mounted on the manipula-
tor. This is activated when the motors are in the MOTORS ON state.

2.3 Operation

All operations and programming can be carried out using the portable teach pendant
(see Figure 3) and the operator's panel (see Figure 5).
Display
P1
Figure 3 The teach pendant is equipped with a large display, which displays prompts,
Information is presented on a display using windows, pull-down menus, dialogs and
function keys. No previous programming or computer experience is required to learn
how to operate the robot. All operations can be carried out from the teach pendant,
which means that an additional keyboard is not required. All information, including the
complete programming language, is in English or, if preferred, some other major
language. (For a list of languages, see Product Specification RobotWare).
Product Specification IRB 6400R M99/BaseWare OS 3.2
1
2
P2
P3
information, error messages and other information in plain English.
7 8 9
4 5 6
1 2 3
0
Description
Joystick
Emergency
stop button
7