Product manual

Specification of Variants and Options
Product Specification IRB 6400R M99/BaseWare OS 3.2 65
386 Serial measurement board inside cabinet
Signal interface to external axes with absolute position at power on. The board is
located in the cabinet and occupies one I/O unit slot. The resolvers are connected to a
standard industrial 64-pin connector in accordance with DIN 43652, on the left-hand
side of the cabinet.
387 Serial measurement board as separate unit
370 EXTERNAL AXES DRIVES - SEPARATE CABINET
If more external axes than in option 390 are to be used, an external cabinet can be
supplied. The external cabinet is connected to one Harting connector (cable length 7
m) on the left-hand side of the robot controller.
Door interlock, mains connection, mains voltage and mains filter according to the
robot controller. One transformer and one mains switch are included.
371/372 Drive unit GT, for 4 or 6 motors. Recommended motor types see Figure 44.
373 Drive unit ECB, for 3 or 6 motors. Recommended motor types see Figure 44.
374 Drive unit GT + ECB
375 Drive unit GT + GT + ECB
Figure 44 Motor selecting table.
MANIPULATOR CABLE
The cables are available in the following lengths:
641- 7m
646 15 m
22 m
30 m
7 m, metal braided
15 m, metal braided
Drive unit data Max current Rated current Motor type
1
1. Motors from ABB Flexible Automation/System Products.
Types: S=small (T
N
=1,7 Nm), M=medium (T
N
=5 Nm), L=large
(T
N
=12 Nm)
U 11 - 55A
rms
24A
rms
M, L
G 6 - 30A
rms
16A
rms
S, M, L
T 7,5 - 37A
rms
20A
rms
S, M, L
E 4 - 19A
rms
8,4A
rms
C 2,5 - 11A
rms
5A
rms
B 1,5 - 7A
rms
4A
rms