ABB IRB 6400R - Assembling the Robot; Manipulator

On-Site Installation Installation and Commissioning
10 Product Manual IRB 6400R
2.2 Assembling the robot
2.2.1 Manipulator
The four support points of the manipulator foot must be mounted on four flat surfaces
with a flatness within the specification. Use shims if necessary. The rest of the surface
must be flat within ± 2 mm. Footprint diagram, see Figure 4. Floor mounted models can
be tilted max. 5
o
.
The levelness requirement for the surface is as follows:
Figure 4 Bolting down the manipulator.
0.5
0.2
R
4
0
0
∅
317.34
A - A
A
A
B
B
B - B
(4x)
243.5
(4x)
317.34
(4x)
243.5
(4x)
1
5°
(
4x
)
3
7
.
5
°
(4
x
)
50 (8x)
∅
28 (8x)
∅
45 H9 (4x)
∅
15 0
+2
120 ±0.5
Y
X
Z
Y