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Transporting and Unpacking
1.1 Stability / risk of tipping
When the manipulator is not fastened to the floor and standing still, the manipu-
lator is not stable in the whole working area. When the arms are moved, care must
be taken so that the centre of gravity is not displaced, as this could cause the
manipulator to tip over.
The following table shows the positions where there is a risk of tipping and refers to the
figures in chapter 3.8 in Product Specification IRB 6400R, for definition of position 0
and 5.
The new position does not refer to any figure. In this position, with axis 2 at an angle
of -35° and axis 3 at an angle of 0°, there is no risk of the manipulator tipping.
Version
2,5-120
2,5-150
2,5-200
2,8-150
2,8-200
3,0-100
All other axes should have an angle of 0°.
no
= stable
yes
= risk of tipping
For Foundry (F) version, see corresponding non F-version.
1.2 System diskettes
The diskettes in the box, fixed to the shelf for the teach pendant, should be copied
(in a PC) before they are used. Never work with the original diskettes. When you have
made copies, store the originals in a safe place.
Do not store diskettes inside the controller due to the high temperatures there.
6
Working area pos. 0
load = 0 kg load = max
no
yes
no
yes
no
yes
no
yes
no
yes
no
yes
Installation and Commissioning
Working area pos. 5
load = 0 kg load = max
yes
yes
yes
yes
yes
yes
yes
yes
yes
yes
yes
yes
Product Manual IRB 6400R
NEW pos.
load = 0kg load = max
no
no
no
no
no
no
no
no
no
no
no
no
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Troubleshooting
