Disassembly/Assembly
Guidelines
IRB 6400
Page 2 - 3
Safety
SAFETY FEATURES
Selection of Operating Mode
The robot can be operated either manually or automatically. In Manual
mode, the robot can only be operated using the teach pendant, not by any
external equipment.
Reduced Speed
The speed can be limited to a maximum of 250 mm/s. A speed limitation
applies not only to the Tool Center Point (TCP), but to all parts of the robot.
It is also possible to monitor the speed of equipment mounted on the robot .
Overspeed Protection
The speed of the robot is monitored by two independent computers.
Emergency Stop (E-Stop)
There is one emergency stop push button on the control panel, and anot h-
er on the teach pendant. Additional emergency stop buttons can be con-
nected to the robot’s safety chain circuit.
Safeguarded Space Stop
These include: Manual Stop, Auto Stop, General Stop, E-Stop, Limit Stop.
The robot has a number of electrical inputs which can be used to connect
external safety equipment, such as safety gates and light curtains. This a l-
lows the robot’s safety functions to be activated both by peripheral equi p-
ment and by the robot itself.
Delayed Safeguarded Space Stop
Such as a Hold circuit. A delayed stop gives a smooth stop. The robot
stops in the same way as a normal program stop with no deviation from
programmed path. After 1-2 seconds the power supplied to the motors
shuts off.
Restricting the Working Space
The movement of each of the axes 1-6 can be restricted using software
limits. Axes 1-3 can also be restricted by means of an adjustable mecha n-
ical stop. Axis 1 & 2 can be restricted using an Electrical Limit switch.
Enabling Device
You must use the Enabling Device on the Teach Pendant to start the motor
before you can move the robot when in Manual modes. The Enabling De-
vice has a switch with three positions, meaning that all robot movements
stop when either the Enabling Device is pushed fully IN, or when it is re-
leased completely. This makes the robot safer to operate.
Hold-to-Run Control
“Hold-to-run” means that you must hold down the Program Start button or
step (forward or backward) in order to move the robot. When the button is
released, the robot will stop. The hold-to-run function makes programming
test safer. This feature can be disabled for manual reduced speed mode .
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