ABB IRB 6400R Product On-Line Manual page 75

386 Serial measurement board inside cabinet
Signal interface to external axes with absolute position at power on. The board is
located in the cabinet and occupies one I/O unit slot. The resolvers are connected to a
standard industrial 64-pin connector in accordance with DIN 43652, on the left-hand
side of the cabinet.
387 Serial measurement board as separate unit
370 EXTERNAL AXES DRIVES - SEPARATE CABINET
If more external axes than in option 390 are to be used, an external cabinet can be
supplied. The external cabinet is connected to one Harting connector (cable length 7
m) on the left-hand side of the robot controller.
Door interlock, mains connection, mains voltage and mains filter according to the
robot controller. One transformer and one mains switch are included.
371/372 Drive unit GT, for 4 or 6 motors. Recommended motor types see Figure 44.
373 Drive unit ECB, for 3 or 6 motors. Recommended motor types see Figure 44.
374 Drive unit GT + ECB
375 Drive unit GT + GT + ECB
Drive unit data
1. Motors from ABB Flexible Automation/System Products.
MANIPULATOR CABLE
The cables are available in the following lengths:
641- 7m
646 15 m
22 m
30 m
7 m, metal braided
15 m, metal braided
Product Specification IRB 6400R M99/BaseWare OS 3.2
Max current
U 11 - 55A
G 6 - 30A
T 7,5 - 37A
E 4 - 19A
C 2,5 - 11A
B 1,5 - 7A
Types: S=small (T =1,7 Nm), M=medium (T
N
(T =12 Nm)
N
Figure 44 Motor selecting table.
Specification of Variants and Options
Rated current
24A
rms rms
16A
rms rms
20A
rms rms
8,4A
rms rms
5A
rms rms
4A
rms rms
=5 Nm), L=large
N
1
Motor type
M, L
S, M, L
S, M, L
65