Installation; Programming - ABB IRB 6400R Product On-Line Manual

Using a key switch, the robot can be locked in two or three different operating modes
depending on chosen mode selector:
• Automatic mode:
• Manual mode at reduced speed:
• Manual mode at full speed (option):
100%
Equipped with this mode, the robot is
not approved according to ANSI/UL
Both the operator's panel and the teach pendant can be mounted externally, i.e. outside
the cabinet. The robot can then be controlled from there.
The robot can be remotely controlled from a computer, PLC or from a customer's
panel, using serial communication or digital system signals.
For more information on how to operate the robot, see the User's Guide.

2.4 Installation

The robot has a standard configuration and can be operated immediately after
installation. Its configuration is displayed in plain language and can easily be changed
using the teach pendant. The configuration can be stored on a diskette and/or
transferred to other robots that have the same characteristics.
All the versions of IRB 6400R are designed for floor mounting. Depending on the
robot version an end effector of max. weight 100 to 200 kg, including payload, can be
mounted on the mounting flange (axis 6). Load diagram, see chapter 3.4.
Extra loads (valve packages, transformers) can be mounted on the upper arm. On all
versions an extra load can also be mounted on the frame of axis 1. Holes for extra
equipment are described in chapter 3.4.
The working range of axes 1-3 can be limited by mechanical stops. Position switches
can be supplied on axes 1-3 for position indication of the manipulator.

2.5 Programming

Programming the robot involves choosing instructions and arguments from lists of
appropriate alternatives. Users do not need to remember the format of instructions,
since they are prompted in plain English. "See and pick" is used instead of "remember
and type".
The programming environment can be easily customized using the teach pendant.
- Shop floor language can be used to name programs, signals, counters, etc.
- New instructions can be easily written.
- The most common instructions can be collected in easy-to-use pick lists.
- Positions, registers, tool data, or other data, can be created.
Product Specification IRB 6400R M99/BaseWare OS 3.2
Running production
Programming and setup
Max. speed: 250 mm/s (600 inches/min.)
Testing at full program speed
Description
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