ABB IRB 6400R - System Description

System Description
CONTENTS
Page
Product Manual 1
1 Structure .......................................................................................................................... 3
1.1 Manipulator ............................................................................................................ 3
1.2 Controller................................................................................................................ 9
1.3 Electronics unit....................................................................................................... 10
2 Computer System............................................................................................................ 13
3 Servo System.................................................................................................................... 15
3.1 Principle function ................................................................................................... 15
3.2 Regulation............................................................................................................... 15
3.3 Controlling the robot .............................................................................................. 15
3.4 Overload protection................................................................................................ 16
4 I/O System........................................................................................................................ 17
5 Safety System................................................................................................................... 19
5.1 The chain of operation............................................................................................ 19
5.2 MOTORS ON and MOTORS OFF modes............................................................. 20
5.3 Safety stop signals .................................................................................................. 20
5.4 Limitation of velocity............................................................................................. 21
5.5 ENABLE ................................................................................................................ 21
5.6 24 V supervision..................................................................................................... 21
5.7 Monitoring.............................................................................................................. 21
6 External Axes................................................................................................................... 23