Connecting The Controller To The Manipulator; Connection On Left-Hand Side Of Cabinet; Dimensioning The Safety Fence - ABB IRB 6400R Product On-Line Manual

Installation and Commissioning

2.9 Connecting the controller to the manipulator

Two cables are used to connect the controller to the manipulator, one for measuring
signals and the other for motor and brakes.
The connection on the manipulator is located on the rear of the robot base.

2.9.1 Connection on left-hand side of cabinet

The cables are connected to the left side of the cabinet using an industrial connector
and a Burndy connector (see Figure 20). A connector is designated XP when it has
pins (male) and XS when it has sockets (female). A screwed connection is desig-
nated XT.
Motor cable, XP1
Measurement cable, XP2
Figure 20 Connections on the cabinet wall.

2.10 Dimensioning the safety fence

A safety fence must be fitted around the robot to ensure a safe robot installation. The
fence must be dimensioned to withstand the force created if the load being handled
by the robot is dropped or released at maximum speed. The maximum speed is
determined from the max. velocities of the robot axes and from the position at which
the robot is working in the workcell. See Product Specification, section 3.8. The
max. speed for a load mounted on the IRB 6400R is 8 m/s.
Product Manual IRB 6400
On-Site Installation
XS1
XS2
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