ABB IRB 6400R Product On-Line Manual page 65

For axis 1 there are three position switch functions available. For axes 2 and 3 one
position switch function each.
Each position switch function consists of two switches mechanically operated by
separate cams. Each switch has one normal open and one normal closed contact. See
the exception for axis 1.
The design and components fulfill the demands to be used as safety switches.
This options may require external safety arrangements, e.g. light curtains, photocells or
contact mats.
The switches can be connected either to the manipulator base (R1.SW1or R1.SW2/3,
see Figure 31), or to the controller. In the controller the signals are connected to screw
terminal XT8 Phoenix MSTB 2.5/12-ST-5.08, see Figure 41.
Switch type Balluff Multiple position switches BNS, according to EN 60947-5-1 and
EN 60947-5-2.
Connection to
075 Manipulator
Connection on the manipulator base with one Burndy 23-pin connector.
076 Cabinet
Connection on the cabinet wall. Position switch cables are included.
Position switches axis 1
069- Three position switch functions are available.
071 Note. With 3 functions the connection of the switch no 5 and 6 is limited to normal
closed as standard.
Connection of signals axis 1 (cable lengths)
078 7m
079 15m
080 22m
081 30m
072 Position switches axis 2
Only available if option 041 or 042 is chosen
073 Position switches axis 3
Only available if options 041 or 042, and 072 are chosen
Connection of signals axes 2 and 3 (cable lengths)
083 7m
084 15m
085 22m
086 30m
WORKING RANGE LIMIT
To increase the safety of the robot, the working range of axes 1, 2 and 3 can be restricted
by extra mechanical stops.
Axis 1
061 Stops which allow the working range to be restricted in increments of 7,5
062 Stops which allow the working range to be restricted in increments of 15
Product Specification IRB 6400R M99/BaseWare OS 3.2
Specification of Variants and Options
o
.
o
.
55