6400R_M99-3.2.pdf

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Product Specification
IRB 6400R
3HAC 6150-1/Rev 1
M99/BaseWare OS 3.2
IRB 1400
IRB 2400
IRB 4400
IRB 340
IRB 840/A
IRB 6400R
IRB 640
ABB Flexible Automation
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The information in this document is subject to change without notice and should not be construed as a
commitment by ABB Robotics AB. ABB Robotics AB assumes no responsibility for any errors that may
appear in this document.
In no event shall ABB Robotics AB be liable for incidental or consequential damages arising from use
of this document or of the software and hardware described in this document.
This document and parts thereof must not be reproduced or copied without ABB Robotics AB´s written
permission, and contents thereof must not be imparted to a third party nor be used for any unauthorized
purpose. Contravention will be prosecuted.
Additional copies of this document may be obtained from ABB Robotics AB at its then current charge.
© ABB Robotics AB
Article number: 3HAC 6150-1/Rev 1
Issue: M99/BaseWare OS 3.2
ABB Robotics AB
S-721 68 Västerås
Sweden
 
Product Specification IRB 6400R
CONTENTS
Page
1 Introduction ..................................................................................................................... 3
2 Description ....................................................................................................................... 5
2.1 Structure..................................................................................................................5
2.2 Safety/Standards ..................................................................................................... 6
2.3 Operation ................................................................................................................ 7
2.4 Installation .............................................................................................................. 9
2.5 Programming .......................................................................................................... 9
2.6 Automatic Operation .............................................................................................. 11
2.7 Maintenance and Troubleshooting ......................................................................... 12
2.8 Robot Motion.......................................................................................................... 14
2.9 External Axes ......................................................................................................... 16
2.10 Inputs and Outputs................................................................................................ 17
2.11 Communication..................................................................................................... 17
2.12 Spotweld Harness (option) ................................................................................... 18
3 Technical specification .................................................................................................... 19
3.1 Structure..................................................................................................................19
3.2 Safety/Standards ..................................................................................................... 21
3.3 Operation ................................................................................................................ 22
3.4 Installation .............................................................................................................. 23
3.5 Programming .......................................................................................................... 35
3.6 Automatic Operation .............................................................................................. 39
3.7 Maintenance and Troubleshooting ......................................................................... 39
3.8 Robot Motion.......................................................................................................... 40
3.9 External Axes ......................................................................................................... 42
3.10 Inputs and Outputs................................................................................................ 43
3.11 Communication..................................................................................................... 47
3.12 Spotweld Harness (option) ................................................................................... 48
4 Specification of Variants and Options ........................................................................... 49
5 Accessories ....................................................................................................................... 67
6 Index ................................................................................................................................. 69
Product Specification IRB 6400R M99/BaseWare OS 3.2
1
 
 
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Product Specification IRB 6400R
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Product Specification IRB 6400R M99/BaseWare OS 3.2
Introduction
1 Introduction
Thank you for your interest in the IRB 6400R. This manual will give you an overview
of the characteristics and performance of the robot.
IRB 6400R is a 6-axis industrial robot, designed specifically for manufacturing
industries that use flexible robot-based automation. The robot has an open structure
that is specially adapted for flexible use, and can communicate extensively with
external systems.
The IRB 6400R comes in several different versions, with handling capacities of up to
200 kg, a maximum reach of 3 m, floor-mounted manipulators as well as manipulators
for harsh environments.
The robots for harsh evironment have special surface treatment and paint for excellent
corrosion protection. The connectors are designed for severe environment, and
bearings, gears and other sensitive parts are high protected. The high degree of
tightness makes the robots steam washable.
Extra equipment, such as transformers and valve packages, can be placed on the upper
arm or on the frame of axis 1 (see Chapter 3.4).
The robot can be supplied with an integrated spot welding harness as well as a
mechanical support for externally mounted process solutions.
The robot is equipped with an operating system called BaseWare OS. BaseWare OS
controls every aspect of the robot, like motion control, development and execution of
application programs, communication etc.
The functions in this document are all included in BaseWare OS, if not otherwise
specified. For additional functionality the robot can be equipped with optional software
for application support - spot welding, gluing etc., communication features - network
communication - and advanced functions - multitasking, sensor control etc. For a
complete description of optional software, see the Product Specification RobotWare.
All the features are not described in this document. For a more complete and detailed
description, please see the User’s Guide, RAPID Reference Manual and Product
Manual, or contact your nearest ABB Flexible Automation Centre.
Accessories, such as track motion, motors for external axes, cabling for spot welding
guns, and tool systems with tool exchangers, have been specially adapted for use with
the IRB 6400R (see Chapter 5).
Different robot versions
The IRB 6400R, as mentioned above, is available in several different versions.
The following different robot types are available:
IRB 6400R/2.5-120
IRB 6400R/2.5-150
IRB 6400R/2.5-200
IRB 6400R/2.8-150
IRB 6400R/2.8-200
IRB 6400R/3.0-100
Product Specification IRB 6400R M99/BaseWare OS 3.2
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