ABB IRB 640 - Installation and Commissioning; Default Chapter; Table of Contents

Installation and Commissioning
CONTENTS
Page
Product Manual IRB 640 1
1 Transporting and Unpacking......................................................................................... 3
1.1 Stability / risk of tipping......................................................................................... 4
1.2 System diskettes ..................................................................................................... 4
2 On-Site Installation.........................................................................................................5
2.1 Lifting the manipulator........................................................................................... 5
2.2 Assembling the robot.............................................................................................. 9
2.2.1 Manipulator.................................................................................................. 9
2.3 Stress forces............................................................................................................ 10
2.3.1 Stiffness........................................................................................................ 10
2.3.2 All versions .................................................................................................. 10
2.4 Amount of space required....................................................................................... 11
2.4.1 Manipulator.................................................................................................. 11
2.5 Manually engaging the brakes................................................................................ 12
2.6 Restricting the working space................................................................................. 13
2.6.1 Axis 1........................................................................................................... 13
2.6.2 Axes 2 and 3................................................................................................. 14
2.7 Mounting holes for equipment on the manipulator................................................ 15
2.7.1 Quality of screws for fitting extra equipment.............................................. 15
2.8 Loads ......................................................................................................................16
3 Customer connections on manipulator ......................................................................... 19
3.1 Connection of extra equipment to the manipulator ................................................ 23
3.1.1 Connections on upper arm. .......................................................................... 23
3.1.2 Connections on upper arm with CanBus...................................................... 24
3.1.3 Connection of signal lamp on upper arm (option)....................................... 25