Robot Motion - ABB IRB 6400R Product On-Line Manual

Description

2.8 Robot Motion

Floor-mounting
Dimensions apply to
IRB 6400R/ 3.0-100
Motion performance
The QuickMove
The robot automatically optimizes the servo parameters to achieve the best possible
performance throughout the cycle - based on load properties, location in working area,
velocity and direction of movement.
- No parameters have to be adjusted to achieve correct path, orientation and
velocity.
- Maximum acceleration is always obtained (acceleration can be reduced, e.g.
when handling fragile parts).
- The number of adjustments that have to be made to achieve the shortest possible
cycle time is minimized.
The TrueMove
the speed or operating mode – even after an emergency stop, a safeguarded stop, a
process stop, a program stop or a power failure.
The robot can, in a controlled way, pass through singular points, i.e. points where two
axes coincide.
14
1229
Figure 8 Working space of IRB 6400R (dimensions in mm).
TM
concept means that a self-optimizing motion control is used.
TM
concept means that the programmed path is followed – regardless of
Product Specification IRB 6400R M99/BaseWare OS 3.2
2999