Assembling The Robot; Manipulator - ABB IRB 6400R Product On-Line Manual

On-Site Installation

2.2 Assembling the robot

2.2.1 Manipulator

The four support points of the manipulator foot must be mounted on four flat surfaces
with a flatness within the specification. Use shims if necessary. The rest of the surface
must be flat within ± 2 mm. Footprint diagram, see Figure 4. Floor mounted models can
be tilted max. 5
The levelness requirement for the surface is as follows:
Figure 4 Bolting down the manipulator.
10
o
.
B - B A - A
Installation and Commissioning
0.5
Y
Y
317.34 (4x)
243.5 (4x)
B
B
Z
A
A
∅
50 (8x)
∅
28 (8x)
120 ±0.5
+2
15
0
∅
45 H9 (4x)
Product Manual IRB 6400R
X
∅
0.2