General Description - ABB IRB 6400R Product On-Line Manual

Repairs

1 General Description

The industrial robot system IRB 6400 comprises two separate units; the control cabinet
and the mechanical unit. The service of the mechanical unit is described in this docu-
ment.
As regards service, the mechanical unit is divided into the following main parts:
• Electrical System
• Motor Units
• Mechanical System
The Electrical System is routed through the entire robot and consists of two major sys-
tems; power cabling and signal cabling. The power cabling feeds the robot axes' motor
units. The signal cabling feeds the various controlling parameters like axis positions,
motor revs, etc.
The AC type Motor Units provide the motive power for the various robot axes via
gears. Mechanical brakes, electrically released, lock the motor units when the robot is
inoperative for more than 180 seconds.
The Mechanical System has 6 axes, enabling the flexible robot motions.
Figur 1 The robot axes and motion patterns.
Product Manual IRB 6400R
General Description
Axis 3
Axis4
Axis 5
Axis 2
Axis 1
Axis 6
3