ABB IRB 6400R Manuel utilisateur

ABB Flexible Automation

Product On-line Manual

IRB 6400R

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3HAC 6264-1

M99

The information in this document is subject to change without notice and should not be construed as a

commitment by ABB Robotics Products AB. ABB Robotics Products AB assumes no responsibility for

any errors that may appear in this document.

In no event shall ABB Robotics Products AB be liable for incidental or consequential damages arising

from use of this document or of the software and hardware described in this document.

This document and parts thereof must not be reproduced or copied without

ABB Robotics Products AB´s written permission, and contents thereof must not be imparted to a third

party nor be used for any unauthorized purpose. Contravention will be prosecuted.

Additional copies of this document may be obtained from ABB Robotics Products AB at its then current

charge.

Article number: 3HAC 2914-1

Issue: M98

ABB Robotics Products AB

S-721 68 Västerås

Sweden

Introduction Installation and Commissioning

Product Specification IRB 6400R Maintenance

Product Specification RobotWare Troubleshooting Tools

Safety Fault tracing guide

CE-declaration Circuit Diagram

Configuration List Repairs

System Description Spare parts

ABB Flexible Automation AB

Product Manual IRB 6400R M99, On-line Manual

MAIN MENU

Description

20 Product Specification IRB 1400 M97A/BaseWare OS 3.0

Introduction

CONTENTS Page

Product Manual 1

1 How to use this Manual........................................................................................... 3

2 What you must know before you use the Robot................................................... 3

3 Identification............................................................................................................ 4

Introduction

2 Product Manual

Introduction

Product Manual 3

Introduction

1 How to use this Manual

This manual provides information on installation, preventive maintenance, trouble-

shooting and how to carry out repairs on the manipulator and controller. Its intended

audience is trained maintenance personnel with expertise in both mechanical and

electrical systems. The manual does not in any way assume to take the place of the

maintenance course offered by ABB Flexible Automation.

Anyone reading this manual should also have access to the User’s Guide.

The chapter entitled System Description provides general information on the robot

structure, such as its computer system, input and output signals, etc.

How to assemble the robot and install all signals, etc., is described in the chapter on

Installation and Commissioning.

If an error should occur in the robot system, you can find out why it has happened in

the chapter on Troubleshooting. If you receive an error message, you can also consult

the chapter on System and Error Messages in the User’s Guide. It is very helpful to

have a copy of the circuit diagram at hand when trying to locate cabling faults.

Servicing and maintenance routines are described in the chapter on Maintenance.

2 What you must know before you use the Robot

• Normal maintenance and repair work usually only require standard tools. Some

repairs, however, require specific tools. These repairs, and the type of tool required,

are described in more detail in the chapter Repairs.

• The power supply must always be switched off whenever work is carried out in the

controller cabinet. Note that even though the power is switched off, the orange-

coloured cables may be live. The reason for this is that these cables are connected to

external equipment and are consequently not affected by the mains switch on the

controller.

• Circuit boards - printed boards and components - must never be handled without

Electro-StaticDischarge (ESD) protection inorder not to damage them. Use thecarry

band located on the inside of the controller door.

All personnel working withthe robot system must be very familiarwiththe safety

regulations outlined in the chapter on Safety. Incorrect operation can damage the

robot or injure someone.

Introduction

4 Product Manual

3 Identification

Identification plates indicating the type of robot and serial number, etc., are located on

the manipulator (see Figure 1) and on the front of the controller (see Figure 2).

The BaseWare O.S diskettes are also marked with serial number (see Figure 3).

Note! The identification plates and label shown in the figures below, only serves as

examples. For exact identification see plates on your robot in question.

Figure 1 Examples of identification plate and its location on different manipulator types.

IRB 6400R

Made in SwedenS-721 68 Västerås Sweden

ABB Robotics Products AB

Type:

Robot version:

Man. order:

Nom. load

Serial. No:

Date of manufacturing:

Net weight

2,5-150 : 1910 kg

IRB 6400R M99

IRB 6400/2.5-150

XXXXXX

See instructions

64-15XXX

1999-XX-XX

Identification plate showing

the IRB 6400R / M99

IRB 140(0)

IRB 640

IRB 840/A

IRB 340

IRB 4400IRB 2400

Introduction

Product Manual 5

Figure 2 Identification plate on the controller.

Figure 3 Example of a label on a BaseWare O.S diskette.

Made in SwedenS-721 68 Västerås Sweden

ABB Robotics Products AB

Type:

Robot version:

Voltage: 3 x 400 V

Power:

Man. order:

Re.No:

Serial. No:

Date of manufacturing:

Net weight:

IRB 6400R M99

IRB 6400R/2.5-150

Frequency: 50-60 Hz

7.2 kVA

XXXXXX

RXXXXXXXXXX

64-XXXXX

1998-XX-XX

240 kg

ABB Robotics Products AB

64-00000

System Key S4C 3.1

Program No 3 HAB2390-1/03

Boot disk 1 (1)

modification, use or disclosure to third parties without express authority

controller(s) with the serial no as marked on disk.

Introduction

6 Product Manual

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