Product Specification IRB 6400R
CONTENTS
Page
Product Specification IRB 6400R M99/BaseWare OS 3.2 1
1 Introduction..................................................................................................................... 3
2 Description....................................................................................................................... 5
2.1 Structure..................................................................................................................5
2.2 Safety/Standards..................................................................................................... 6
2.3 Operation ................................................................................................................ 7
2.4 Installation .............................................................................................................. 9
2.5 Programming .......................................................................................................... 9
2.6 Automatic Operation .............................................................................................. 11
2.7 Maintenance and Troubleshooting ......................................................................... 12
2.8 Robot Motion.......................................................................................................... 14
2.9 External Axes ......................................................................................................... 16
2.10 Inputs and Outputs................................................................................................ 17
2.11 Communication..................................................................................................... 17
2.12 Spotweld Harness (option) ................................................................................... 18
3 Technical specification.................................................................................................... 19
3.1 Structure..................................................................................................................19
3.2 Safety/Standards..................................................................................................... 21
3.3 Operation ................................................................................................................ 22
3.4 Installation .............................................................................................................. 23
3.5 Programming .......................................................................................................... 35
3.6 Automatic Operation .............................................................................................. 39
3.7 Maintenance and Troubleshooting ......................................................................... 39
3.8 Robot Motion.......................................................................................................... 40
3.9 External Axes ......................................................................................................... 42
3.10 Inputs and Outputs................................................................................................ 43
3.11 Communication..................................................................................................... 47
3.12 Spotweld Harness (option) ................................................................................... 48
4 Specification of Variants and Options........................................................................... 49
5 Accessories ....................................................................................................................... 67
6 Index................................................................................................................................. 69
