System Description
Structure
Product Manual
3
1 Structure
The robot is made up of two main parts, manipulator and controller, described in sec-
tions 1.1 and 1.2.
1.1 Manipulator
It is equipped with maintenance-free, AC motors which have electromechanical
brakes. The brakes lock the motors when the robot is inoperative for more than 1000
hours. The time is configurabble for the user.
The following figures shows the various ways in which the different manipulators
moves and its component parts.
Figure 1 The motion patterns of the IRB 1400 and IRB 140.
Motor axis 5
Motor axis 6
Motor axis 4
Axis 2
Axis 1
Motor axis 1
Axis 3
Motor axis 2
Motor axis 3
Axis 4
Axis 5
Axis 6
Upper arm
Lower arm
Base
Summary of Contents for IRB 6400R
Page 4: ...Description 20 Product Specification IRB 1400 M97A BaseWare OS 3 0 ...
Page 6: ...Introduction 2 Product Manual ...
Page 10: ...Introduction 6 Product Manual ...
Page 12: ...Product Specification IRB 6400R 2 Product Specification IRB 6400R M99 BaseWare OS 3 2 ...
Page 78: ...Accessories 68 Product Specification IRB 6400R M99 BaseWare OS 3 2 ...
Page 80: ...Product Specification RobotWare 2 Product Specification RobotWare for BaseWare OS 3 2 ...
Page 82: ...Introduction 4 Product Specification RobotWare for BaseWare OS 3 2 ...
Page 104: ...Interbus S 3 2 26 Product Specification RobotWare for BaseWare OS 3 2 ...
Page 110: ...I O Plus 3 2 32 Product Specification RobotWare for BaseWare OS 3 2 ...
Page 128: ...PalletWare 50 Product Specification RobotWare for BaseWare OS 3 2 ...
Page 132: ...Safety 2 Product Manual ...
Page 148: ...System Description CONTENTS Page 2 Product Manual ...
Page 158: ...Structure System Description 12 Product Manual ...
Page 160: ...Computer System System Description 14 Product Manual ...
Page 164: ...I O System System Description 18 Product Manual ...
Page 168: ...Safety System System Description 22 Product Manual ...
Page 170: ...External Axes System Description 24 Product Manual ...
Page 174: ...Installation and Commissioning CONTENTS Page 4 Product Manual IRB 6400R ...
Page 196: ...On Site Installation Installation and Commissioning 26 Product Manual IRB 6400R ...
Page 270: ...Installing the Control Program Installation and Commissioning 100 Product Manual IRB 6400R ...
Page 292: ...Maintenance CONTENTS Page 2 Product Manual IRB 6400R ...
Page 299: ...Maintenance Product Manual IRB 6400R 9 Figure 4 Lubricating gearbox axis 1 4 3 1 2 ...
Page 312: ...Troubleshooting Tools CONTENTS Page 2 Product Manual ...
Page 350: ...Troubleshooting Tools 40 Product Manual ...
Page 352: ...Fault tracing guide 2 Product Manual ...
Page 362: ...Fault tracing guide 12 Product Manual ...
Page 375: ...Motor units Repairs 12 Product Manual IRB 6400R ...
Page 401: ...Arm System Repairs 38 Product Manual IRB 6400R ...
Page 409: ...Cabling Repairs 46 Product Manual IRB 6400R ...
Page 441: ...Special Tools List Repairs 80 Product Manual IRB 6400R ...
Page 479: ...Part List and Spare Parts Product Manual IRB 6400R 38 ...
Page 480: ...Part List and Spare Parts Product Manual IRB 6400R 39 ...
Page 481: ...Part List and Spare Parts Product Manual IRB 6400R 40 ...