ABB IRB 6400R Product On-Line Manual page 171

1 Transporting and Unpacking ......................................................................................... 5
1.1 Stability / risk of tipping......................................................................................... 6
1.2 System diskettes ..................................................................................................... 6
2 On-Site Installation ......................................................................................................... 7
2.1 Lifting the manipulator and controller.................................................................... 7
2.2 Assembling the robot.............................................................................................. 10
2.2.1 Manipulator.................................................................................................. 10
2.2.2 Controller ..................................................................................................... 13
2.3 Stress forces............................................................................................................ 14
2.3.1 Stiffness........................................................................................................ 14
2.3.2 All versions .................................................................................................. 14
2.4 Amount of space required....................................................................................... 15
2.4.1 Manipulator.................................................................................................. 15
2.4.2 Controller ..................................................................................................... 16
2.5 Manually releasing the brakes ................................................................................ 17
2.6 Restricting the working space................................................................................. 19
2.6.1 Axis 1 ........................................................................................................... 19
2.6.2 Axes 2 and 3................................................................................................. 21
2.6.3 Position switch ............................................................................................. 22
2.7 Mounting holes for equipment on the manipulator ................................................ 24
2.7.1 Quality of screws for fitting extra equipment .............................................. 25
2.8 Loads ...................................................................................................................... 25
2.8.1 Break Times ................................................................................................. 25
2.9 Connecting the controller to the manipulator ......................................................... 27
2.9.1 Connection on left-hand side of cabinet ...................................................... 27
2.10 Dimensioning the safety fence ............................................................................. 27
2.11 Mains power connection....................................................................................... 28
2.11.1 Connection to the mains switch ................................................................. 28
2.11.2 Connection via a power socket .................................................................. 29
2.12 Inspection before start-up ..................................................................................... 29
2.13 Start-up ................................................................................................................. 31
2.13.1 General ....................................................................................................... 31
2.13.2 Updating the revolution counter ................................................................ 32
2.13.3 Checking the calibration position .............................................................. 36
2.13.4 Alternative calibration positions ................................................................ 36
2.13.5 Operating the robot .................................................................................... 36
3 Connecting Signals .......................................................................................................... 37
Product Manual IRB 6400R
Installation and Commissioning
CONTENTS
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