ABB IRB 6400R Product On-Line Manual page 64

Specification of Variants and Options
691 Safety lamp
A safety lamp with an orange fixed light can be mounted on the manipulator.
The lamp is active in MOTORS ON mode.
The safety lamp is required on a UL/UR approved robot.
058 Dressing
Mounting of extra equipment, e.g. tool system on robot before delivery, ordered from
ABB Flexible Automation/Dpt U.
089 Insulated flange
Electrically insulated tool flange. In case of an electrical fault in the spot welding
equipment mounted on the tool flange, the tool flange withstands dangerous
voltage (100V AC during 60 seconds or 300V AC during 10 seconds) in non water
applications without passing it further to electronics in the robot and controller.
See Figure 35.
o
60
D=125
Figure 35 The mechanical interface of the insulated flange (dimensions in mm).
093 Onboard calibration
Onboard calibration is used to make short service stops possible, in order to check on the sync
position or any displacement of the screwed joints in the structure, following a collision, seizure
with a tool, when one of the motors on axes 1-4 is changed, etc.
In connection with major repairs and changing structural components or the wrist, DynaCal must
be used instead.
The equipment comprises four sensors fixed on the manipulator axes 1-4.
A calibration tool is also required, with two sensors for axes 5-6, an I/O connection box with six
sensor cables of length 5 m, and a CANbus cable of length 15 m with a Phoenix connector that
is plugged into X16 in the control cabinet.
This equipment must be ordered separately.
POSITION SWITCHES
Position switches indicating the position of the three main axes. Rails with separate adjustable
cams are attached to the manipulator. The cams, which have to be adapted to the switch function
by the user, can be mounted in any position in the working range for each switch. No machining
operation of the cams is necessary for the adaption, simple hand tools can be used.
54
D=10 H7 Depth 10
o
30
M10 (6x) Depth 18
o
10
D=10 H7 Depth 10
Product Specification IRB 6400R M99/BaseWare OS 3.2
8
8