ABB IRB 4400, Manual

Page 1: ...Product Specification 3HAC 5671 1 IRB 4400 M98A BW OS 3 2 Rev 1 ...

Page 2: ... 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 Produ...

Page 3: ...e and Troubleshooting 12 2 8 Robot Motion 14 2 9 External Axes 18 2 10 Inputs and Outputs 18 2 11 Communication 19 3 Technical specification 21 3 1 Structure 21 3 2 Safety Standards 25 3 3 Operation 26 3 4 Installation 27 3 5 Programming 36 3 6 Automatic Operation 40 3 7 Maintenance and Troubleshooting 40 3 8 Robot Motion 41 3 9 External Axes 46 3 10 Inputs and Outputs 47 3 11 Communication 51 4 S...

Page 4: ...Product Specification IRB 4400 2 Product Specification IRB 4400 M98A BaseWare OS 3 2 ...

Page 5: ...ls every aspect of the robot like motion control development and execution of application programs communication etc The functions in this document are all included in BaseWare OS if not otherwise specified For additional functionality the robot can be equipped with optional software for application support gluing for example network communication and advanced functions multitasking sensor control...

Page 6: ...functionality see Chapter 4 Specification of Variants and Options In Chapter 5 you will find accessories for the robot Chapter 6 contains an Index to make things easier to find Other manuals The User s Guide is a reference manual with step by step instructions on how to perform various tasks The programming language is described in the RAPID Reference Manual The Product Manual describes how to ins...

Page 7: ...IRB 4400 manipulator has 6 axes Figure 2 The controller is specifically designed to control robots which means that optimal performance and functionality are achieved The controller contains the electronics required to control the manipulator external axes and peripheral equipment Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1 Teach pendant Operator s panel Disk drive Mains switch ...

Page 8: ...bot It is also possible to monitor the speed of equipment mounted on the robot Three position enabling device The enabling device on the teach pendant must be used to move the robot when in man ual mode The enabling device consists of a switch with three positions meaning that all robot movements stop when either the enabling device is pushed fully in or when it is released completely This makes t...

Page 9: ...ipula tor This is activated when the motors are in the MOTORS ON state 2 3 Operation All operations and programming can be carried out using the portable teach pendant see Figure 3 and the operator s panel see Figure 5 Figure 3 The teach pendant is equipped with a large display which displays prompts information error messages and other information in plain English Information is presented on a di...

Page 10: ...more slowly The robot supports different user tasks with dedicated windows for Production Programming System setup Service and installation Operator s panel Figure 5 The operating mode is selected using the operator s panel on the controller Inputs Outputs File Value 1 0 1 0 1 1 13 Edit View 1 0 4 6 Name di1 di2 grip1 grip2 clamp3B feeder progno 1 Goto 2 Goto Top 3 Goto Bottom Menu keys I O list M...

Page 11: ...on how to operate the robot see the User s Guide 2 4 Installation The robot has a standard configuration and can be operated immediately after installation Its configuration is displayed in plain language and can easily be changed using the teach pendant The configuration can be stored on a diskette and or transferred to other robots that have the same characteristics All the versions of IRB 4400 ...

Page 12: ... that it can be edited using a standard PC Movements A sequence of movements is programmed as a number of partial movements between the positions to which you want the robot to move The end position of a movement is selected either by manually jogging the robot to the desired position with the joystick or by referring to a previously defined position The exact position can be defined see Figure 6 ...

Page 13: ...arguments in an instruction can also be edited using these commands No reprogramming is necessary when processing left hand and right hand parts since the program can be mirrored in any plane A robot position can easily be changed either by jogging the robot with the joystick to a new position and then pressing the ModPos key this registers the new position or by entering or modifying numeric valu...

Page 14: ...t is started up in a controlled way The robot is equipped with absolute measurement making it possible to operate the robot directly from when the power is switched on For your convenience the robot saves the used path program data and configuration parameters so that the program can easily be restarted from where you left off Digital outputs are also set automatically to the value before the powe...

Page 15: ...rd error is indicated by an LED on the faulty unit Faults and major events are logged and time stamped This makes it possible to detect error chains and provides the background for any downtime The log can be read on the teach pendant display stored in a file or printed on a printer There are commands and service programs in RAPID to test units and func tions Most errors detected by the user progr...

Page 16: ...on 14 Product Specification IRB 4400 M98A BaseWare OS 3 2 2 8 Robot Motion Figure 8 Working space of IRB 4400 45 and 60 dimensions in mm 1955 2140 290 1223 IRB 4400 45 and 60 IRB 4400FS 0 30o 1529 1344 1453 1291 ...

Page 17: ...Description Product Specification IRB 4400 M98A BaseWare OS 3 2 15 Figure 9 Working space of IRB 4400L 30 and L 10 dimensions in mm 2390 786 IRB 4400L 30 2432 1453 2547 1477 905 2450 IRB 4400L 10 ...

Page 18: ...concept means that the programmed path is followed regardless of the speed or operating mode even after an emergency stop a safeguarded stop a process stop a program stop or a power failure The robot can in a controlled way pass through singular points i e points where two axes coincide Coordinate systems Figure 10 The coordinate systems used to make jogging and off line programming easier The wor...

Page 19: ...ed Stationary TCP When the robot is holding a work object and working on a stationary tool it is possible to define a TCP for that tool When that tool is active the programmed path and speed are related to the work object Program execution The robot can move in any of the following ways Joint motion all axes move individually and reach the programmed position at the same time Linear motion the TCP...

Page 20: ...nging a workpiece located on the unit In order to reduce investment costs any axes that do not have to be active at the same time can use the same drive unit Programs can be reused in other mechanical units of the same type 2 10 Inputs and Outputs A distributed I O system is used which makes it possible to mount the I O units either inside the cabinet or outside the cabinet with a cable connecting...

Page 21: ...ted in the trap routine Background programs for monitoring signals for example can be run in parallel with the actual robot program Requires Multitasking option see Product Specification RobotWare Manual functions are available to List all the signal values Create your own list of your most important signals Manually change the status of an output signal Print signal information on a printer I O s...

Page 22: ...Description 20 Product Specification IRB 4400 M98A BaseWare OS 3 2 ...

Page 23: ... IRB 4400L 30 1060 kg Controller 240 kg Volume Controller 950 x 800 x 540 mm Airborne noise level The sound pressure level outside 70 dB A Leq acc to the working space Machinery directive 89 392 EEC Colour Manipulator NCS 2070 Y 60R Controller RAL 7032 Figure 11 View of the controller from the front from above and from the side dimensions in mm 200 50 540 950 980 500 500 800 Lifting points for for...

Page 24: ... View of the manipulator from the side dimensions in mm R 153 A A A A 140 880 for 4400 45 and 60 300 730 200 1720 1380 for 4400FS and 4400L 30 920 680 890 35 310 IRB 4400 45 IRB 4400 60 IRB 4400FS IRB 4400L 30 221 D 130 50 75 18 D 105 D 232 25 122 124 B B 106 B B 140 25 75 25 25 M8 2x 144 ...

Page 25: ...echnical specification Product Specification IRB 4400 M98A BaseWare OS 3 2 23 Figure 13 View of the manipulator from above dimensions in mm 640 R 5 6 5 958 IRB 4400 45 IRB 4400 60 IRB 4400FS IRB 4400L 30 ...

Page 26: ...duct Specification IRB 4400 M98A BaseWare OS 3 2 Figure 14 View of the manipulator from the side and above dimensions in mm R 98 5 A A 640 82 78 958 IRB 4400L 10 A A 85 300 200 148 1720 920 128 680 890 168 1500 730 D 121 D 105 R 565 ...

Page 27: ...ial Robots and Robotic Equipment CAN CSA Z 434 94 option Industrial Robots and Robot Systems General Safety Requirements Safeguarded space stops via inputs External safety equipment can be connected to the robot s two channel emergency stop chain in several different ways see Figure 15 Figure 15 All safeguarded space stops force the robot s motors to the MOTORS OFF state A time delay can be used f...

Page 28: ...en jogging Navigation keys Move the cursor and enter data Menu keys Display pull down menus Function keys Select the commands used most often Window keys Display one of the robot s various windows These windows control a number of different functions Jogging manual operation Programming editing and testing a program Manual input output management File management System configuration Service and tr...

Page 29: ...ring transportation and storage 25oC 13oF to 55oC 131oF for short periods not exceeding 24 hours up to 70o C 158o F Relative humidity Complete robot during transportation and storage Max 95 at constant temperature Complete robot during operation Max 95 at constant temperature Power supply Mains voltage 200 600V 3p 3p N for certain options 10 15 Mains frequency 48 5 Hz to 61 8 Hz Rated power 7 2 kV...

Page 30: ...ype common drive unit mechanical units Brake delay time Time before brakes are engaged I O signal Logical names of boards and signals I O mapping cross connections polarity scaling default value at start up interrupts group I O Serial communication Configuration For a detailed description of the installation procedure see the Product Manual Installation and Commissioning Mounting the manipulator M...

Page 31: ...ted for load mounted on the mounting flange at different positions centre of gravity Z see the above diagram and the coordinate system in Figure 10 L distance in X Y plane from Z axis to the centre of gravity J maximum own moment of inertia on the total handle weight max 2 5 kgm2 100 200 300 400 500 600 100 200 300 Z mm L mm 140 30 kg 20 kg 40 kg 45 kg ...

Page 32: ...or load mounted on the mounting flange at different positions centre of gravity Z see the above diagram and the coordinate system in Figure 10 L distance in X Y plane from Z axis to the centre of gravity J maximum own moment of inertia on the total handle weight max 2 5 kgm2 100 200 300 400 500 100 200 300 Z mm L mm 140 45 kg 35 kg 55 kg 60 kg ...

Page 33: ... permitted for load mounted on the mounting flange at different positions centre of gravity Z see the above diagram and the coordinate system in Figure 10 L distance in X Y plane from Z axis to the centre of gravity J maximum own moment of inertia on the total handle weight max 1 3 kgm2 100 200 300 400 500 600 100 200 300 Z mm L mm 140 30 kg 20 kg ...

Page 34: ...mitted for load mounted on the mounting flange at different positions centre of gravity 200 200 Z mm L mm 100 150 150 100 10 kg 6 kg 8 kg 50 85 Z see the above diagram and the coordinate system in Figure 10 L distance in X Y plane from Z axis to the centre of gravity J maximum own moment of inertia on the total handling weight 0 040 kgm2 ...

Page 35: ...0 at max handl weight M8 3x Depth of thread 14 144 571 for 4400 45 and 60 115 M8 2x Used if Depth of thread 9 25 50 77 38 5 300 340 150 300 150 390 20o B B B B A A A 250 175 A M8 3x R 92 Depth 16 120o 3x 15o C C C C D 100 195 Max 15 kg Max 35 kg 54 If option 623 is chosen these holes are occupied 1071 for 4400FS and 4400L 30 5 kg for 4400FS and 4400L 30 if 0 kg if handling weight is 30 kg D D D D ...

Page 36: ...tions centre of gravity for any extra equipment mounted in the holes dimensions in mm 110 M8 3x Depth of thread 14 115 M6 2x Depth of thread 9 77 38 5 150 300 150 390 20o B B B B A A A 250 175 A Max 15 kg 54 Max 2 kg 110 25 43 D 240 22 78 300 1221 M5 2x M8 3x R 92 Depth 16 120o 3x 15o C C C C D 100 195 Max 35 kg If option 623 is chosen these holes are occupied ...

Page 37: ...gure 25 The mechanical interface mounting flange dimensions in mm 9 15 D 63 8 D 8 0 015 0 M10 6x 6 0 o 6 0 o 60o 6 0 o 6 0 o 30o A A A A R50 0 05 A D 125 0 0 063 0 045 0 A IRB 4400 45 IRB 4400 60 IRB 4400FS IRB 4400L 30 7 D 31 5 8 D 6 0 012 0 M6 6x 6 0 o 30o A A A A R 25 0 05 B D 63 h8 B 5 x H7 H8 IRB 4400L 10 The hole can go through 0 039 0 0 0 046 ...

Page 38: ... a sequence of standard instructions Note that the lists below only cover BaseWare OS For instructions and functions associated with optional software see Product Specification RobotWare Miscellaneous Assigns a value WaitTime Waits a given amount of time WaitUntil Waits until a condition is met comment Inserts comments into the program OpMode Reads the current operating mode RunMode Reads the curr...

Page 39: ...ute joint position MoveXDO Moves the robot and set an output in the end position SearchC Searches during circular movement SearchL Searches during linear movement ActUnit Activates an external mechanical unit DeactUnit Deactivates an external mechanical unit Offs Displaces a position RelTool Displaces a position expressed in the tool coordinate system MirPos Mirrors a position CRobT Reads current ...

Page 40: ...eturns to the routine that called the current routine Communication TPErase Erases text printed on the teach pendant TPWrite Writes on the teach pendant TPReadFK Reads function keys TPReadNum Reads a number from the teach pendant ErrWrite Stores an error message in the error log System Time ClkReset Resets a clock used for timing ClkStart Starts a clock used for timing ClkStop Stops a clock used f...

Page 41: ... Converts a string to a numeric value ValToStr Converts a value to a string For more information on the programming language see RAPID Reference Manual Memory Memory size Instructions1 Program memory Standard 2 5 MB2 7500 Extended memory 8 MB 6 0 MB2 18000 Mass storage3 RAM memory Standard 0 5 MB 3000 Extended 8 MB 4 MB 31000 Diskette 1 44 MB 15000 1 Depending on type of instruction 2 Some softwar...

Page 42: ...arily Display program controlled comments which tell the operator what is happening Displace a position also during program execution can be blocked 3 7 Maintenance and Troubleshooting The following maintenance is required Changing filter for the transformer drive unit cooling every year Changing batteries every third year The maintenance intervals depends on the use of the robot For detailed info...

Page 43: ...0o Axis 5 Bend motion 120o to 120o Axis 6 Turn motion 400o to 400o Figure 26 The extreme positions of the robot arm IRB 4400 45 and 60 dimensions in mm Pos 4 Pos 5 Pos 6 Pos 2 Pos 1 Pos 3 890 150 1720 300 1223 370 200 X IRB 4400 45 and 60 Pos 0 880 140 Z 390 530 732 1955 2140 680 Pos Axis 2 Axis 3 0 1 2 3 4 5 6 Positions mm Angles degrees X Z no 1080 1720 0 0 887 2140 0 30 708 1894 570 51 227 836 ...

Page 44: ...n motion 400o to 400o Figure 27 The extreme positions of the robot arm IRB 4400FS dimensions in mm Pos 5 Pos 6 Pos 1 Pos 2 Pos 3 Pos 0 Pos 4 Z X 1453 2 3 9 0 1291 1344 1529 1380 2432 370 979 1 8 1 390 0 30o IRB 4400FS Pos Axis 2 Axis 3 0 1 2 3 4 5 6 Positions mm Angles degrees X Z no 1580 1720 0 0 1320 2390 0 30 919 2360 239 484 725 383 120 417 1804 1254 0 90 90 70 70 65 60 44 40 65 7 0 8 Dimensio...

Page 45: ...s 5 Bend motion 120o to 120o Axis 6 Turn motion 400o to 400o Figure 28 The extreme positions of the robot arm IRB 4400L 30 dimensions in mm Pos Axis 2 Axis 3 0 1 2 3 4 5 6 Positions mm Angles degrees X Z no 1580 1720 0 0 1320 2390 0 30 919 2303 180 484 725 383 66 448 1804 1254 0 95 95 70 70 65 60 42 40 65 300 Z 1380 Pos 1 140 232 IRB 4400L 30 Pos 5 Pos 6 1 8 4 Pos 3 X 2390 786 1453 2432 530 390 37...

Page 46: ...xis 5 Bend motion 120o to 120o Axis 6 Turn motion 400o to 400o Figure 29 The extreme positions of the robot arm IRB 4400L 10 dimensions in mm 300 Z 1500 Pos 1 85 Pos 0 148 IRB 4400L 10 Pos 6 Pos 2 Pos 3 X 2450 2547 200 300 390 530 1070 680 1720 890 Pos 4 1477 Pos 5 150 Pos Axis 2 Axis 3 0 1 2 3 4 5 6 Positions mm Angles degrees X Z no 1700 1720 0 0 1424 2450 0 30 970 2401 500 588 845 274 135 786 1...

Page 47: ...0 4 mm Minimum positioning time to within 0 5 mm of the position 0 2 0 35 sec on 35 mm linear path 0 45 0 6 sec on 350 mm linear path The above values are the range of average test results from a number of robots If guaranteed values are required please contact your nearest ABB Flexible Automation Centre Velocity Axis no IRB 4400 45 60 L30 IRB 4400L 10 1 150o s 150o s 2 120o s 150o s 3 120o s 150o...

Page 48: ... accomplished by battery backed resolver revolution counters in the serial measurement board SMB The SMB is located close to the motor s as shown in Figure 30 or inside the cabinet For more information on how to install an external axis see the Product Manual Installation and Commissioning Alternatively it is possible to communicate with external drive untis from other vendors See Product Specific...

Page 49: ...Data rate fixed 500 Kbit s Max four units can be mounted inside the cabinet Type of unit Option no Digital Analog Power supply In Out Voltage inputs Voltage output Current output Digital I O 24 VDC 20x 16 16 Internal External1 1 The digital signals are supplied in groups each group having 8 inputs or outputs Digital I O 120 VAC 25x 16 16 Internal External Analog I O 22x 4 3 1 Internal AD Combi I O...

Page 50: ...ion Voltage supply 19 to 35 V Rated voltage 24 V DC Output current max 0 5 A Potential difference max 500 V Time delays hardware 1 ms software 2 ms Time variations 2 ms Relay outputs options 261 268 Single pole relays with one male contact normally open Rated voltage 24 V DC 120 VAC Voltage range 19 to 35 V DC 24 to 140 V AC Output current max 2 A Potential difference max 500V Time intervals hardw...

Page 51: ...ls hardware 12 ms software 4 ms Analog inputs options 221 228 Voltage Input voltage 10 V Input impedance 1 Mohm Resolution 0 61 mV 14 bits Accuracy 0 2 of input signal Analog outputs option 221 228 Voltage Output voltage 10 V Load impedance min 2 kohm Resolution 2 44 mV 12 bits Current Output current 4 20 mA Load impedance min 800 ohm Resolution 4 88 µA 12 bits Accuracy 0 2 of output signal Analog...

Page 52: ...o of modules 19 Cable type not included According to DeviceNet specification release 1 2 System signals Signals can be assigned to special system functions Several signals can be given the same functionality Digital outputs Motors on off Executes program Error Automatic mode Emergency stop Restart not possible Restart not successful Run chain closed Digital inputs Motors on off Starts program from...

Page 53: ...200 bit s max 1 channel with speed 19200 bit s For high speed and or network communication the robot can be equipped with an Ethernet interface see Figure 32 Transmission rate is 10 Mbit s Figure 32 Serial network communication Character based or binary information can be transferred using RAPID instructions This requires the option Advanced functions see Product Specification RobotWare In additio...

Page 54: ...Technical specification 52 Product Specification IRB 4400 M98A BaseWare OS 3 2 ...

Page 55: ...027 IRB 4400FS 028 IRB 4400L 10 Interpretation of robot designation IRB 4400 Application Handling capacity Application F Robot adapted for foundry environments Degree of protection as in Chapter 3 4 The manipulator is finished with a special coating L Long arm Mounting Floor mounted manipulator S Shelf mounted manipulator Handling capacity Specifies the nominal handling capacity Manipulator colour...

Page 56: ...range fixed light can be mounted on the manipulator The lamp is active in MOTORS ON mode The safety lamp is required on a UL UR approved robot DRESSING 919 Mounting of extra equipment ordered from ABB Flexible Automation Sweden Dpt U POSITION SWITCH Switches indicating the position of axis 1 Designs with 1 2 or 3 adjustable switches are available The switches are manufactured by Telemecanique and ...

Page 57: ...robot the working range of axes 1 2 and 3 can be restricted 621 Axis 1 Two extra stops for restricting the working range The stops can be mounted within the area from 65o to 125o See Figure 34 Figure 34 622 Axis 2 Stop lugs for restricting the working range Figure 35 illustrates the mounting positions of the stops Note 5o is not valid for 4400FS Figure 35 623 Axis 3 Equipment for electrically rest...

Page 58: ...ontroller and determined that they fulfil the stipulated safety standards 3 CONTROL SYSTEM CABINET SIZE 111 Standard cabinet with upper cover 112 Standard cabinet without upper cover To be used when cabinet extension is mounted on top of the cabinet after delivery This option is inconsistent with UL approval option 695 UL Listed 114 With extended cover 250 mm The height of the cover is 250 mm whic...

Page 59: ...els OPERATOR S PANEL The operator s panel and teach pendant holder can be installed in different ways 181 Standard i e on the front of the cabinet 182 External i e in a separate operator s unit All necessary cabling including flange connectors sealing strips screws etc is supplied External enclosure is not supplied See Figure 37 183 External mounted in a box See Figure 38 Shaded area 40x40 four co...

Page 60: ...gure 38 Operator s panel mounted in a box all dimensions in mm 184 224 180 140 193 196 70 62 45o External panel enclosure not supplied M8 x4 Connection to Holes for flange Holes for operator s panel Holes for teach pendant holder the controller 90 155 5 x2 Teach pendant connection 200 240 Required depth 200 mm M4 x4 96 223 337 370 M5 x4 for fastening of box Connection flange ...

Page 61: ...e drive is necessary to ensure good functionality The disk drive will not deteriorate at higher temperatures but there will be an increase in the number of reading writing problems as the temperature increases MAINS FILTER EU Electromagnetic compability The mains filter reduces the emission of radio frequency on the incoming power to levels below requirements in the Machinery Directive 89 392 EEC ...

Page 62: ...he cabinet s left hand side The cable is not supplied If option 132 133 is chosen the female connector cable part is included 131 Cable gland for inside connection Diameter of cable 11 12 mm 133 32 A 380 415 V 3p PE see Figure 39 136 32 A 380 415 V 3p N PE see Figure 39 Figure 39 CEE male connector 134 Connection via an industrial Harting 6HSB connector in accordance with DIN 41640 35 A 600 V 6p P...

Page 63: ...tion number is depending on the transformer 14B Fuses 3x15 A for the option Rotary switch for short circuit protection of main cables in the cabinet Interrupt capacity 50 kA I O AND COMMUNICATION The standard cabinet can be equipped with up to four I O units For more details see Technical Specification 3 10 Note The use of I O units and field buses can be limited because of CPU overload in the con...

Page 64: ... 3 9 281 Allen Bradley Remote I O Slave Up to 128 digital inputs and 128 digital outputs in groups of 32 can be transferred serially to a PLC equipped with an Allen Bradley 1771 RIO node adapter The unit reduces the number of I O units that can be mounted in cabinet by one The field bus cables are connected directly to the screw terminals on the A B RIO unit in the upper part of the cabinet see Fi...

Page 65: ...652 located on the left hand side of the cabinet Corresponding cable connectors are also supplied ADDITIONAL UNITS I O units can be delivered separately The units can then be mounted outside the cabinet or in the cabinet extension These are connected in a chain to a connector CAN 3 or CAN 2 see Figure 41 in the upper part of the cabinet Connectors to the I O units and a connector to the cabinet Ph...

Page 66: ...1 and Figure 41 292 EtherNet see Figure 32 Connectors RJ45 and AUI on the board front 294 DeviceNet Connection on the left side to a 5 pole connector in accordance with ANSI TEACH PENDANT 631 With back lighting Extension cable for the teach pendant 661 10 m This can be connected between the controller and the connector on the teach pendant s cable A maximum of two extension cables may be used i e ...

Page 67: ...o drives Recommended motor types see Figure 44 394 Drive unit T GT A combination of 391 and 392 395 Drive unit C The drive unit is part of the DC link Recommended motor type see Figure 44 396 Drive unit C GT A combination of 395 and 392 398 Prepared for GT No drive units or cables are included only transformer 7 2 kVA and DC link DC2 EXTERNAL AXES MEASUREMENT BOARD The resolver can either be conne...

Page 68: ... controller Door interlock mains connection mains voltage and mains filter according to the robot controller One transformer 7 2 kVA and one mains switch are included 37N O Drive unit GT for 4 or 6 motors Recommended motor types see Figure 44 37Q Drive unit ECB for 3 or 6 motors Recommended motor types see Figure 44 37V Drive unit GT ECB 37X Drive unit GT GT ECB Figure 44 Motor selecting table EQU...

Page 69: ...25 Service outlet according to 421 and a computer connection on the front of the cabinet The computer connection is connected to the RS232 serial channel POWER SUPPLY 431 Connection from the main transformer The voltage is switched on off by the mains switch on the front of the cabinet 432 Connection before mains switch without transformer Note this only applies when the mains voltage is 400 V thr...

Page 70: ...98A BaseWare OS 3 2 RAM MEMORY 402 Standard total memory 8 8 MB 403 Extended memory total 8 16 MB EXTRA DOCUMENTATION Product Manuals G11 G13 English G21 G23 Swedish G31 G33 German G41 G43 French G51 G53 Spanish G61 G63 Portuguese G71 G73 Danish G81 G83 Italian G91 G93 Dutch ...

Page 71: ...ication IRB 4400 M98A BaseWare OS 3 2 69 5 Accessories There is a range of tools and equipment available specially designed for the robot Software options for robots and PC Robot Peripherals Track Motion Tool System Motor Units ...

Page 72: ...Accessories 70 Product Specification IRB 4400 M98A BaseWare OS 3 2 ...

Page 73: ...g 36 DeviceNet 64 diagnostics 13 digital signals 18 48 diskette 39 display 7 26 distributed I O 47 DOOR KEYS 59 drive units 65 66 E editing position 11 programs 11 emergency stop 6 7 25 enabling device 6 7 Encoder interface unit 47 63 equipment mounting 33 34 permitted extra load 33 34 error handling 36 event routine 12 execution handler 36 extended cover 56 extended memory 39 external axes 18 46 ...

Page 74: ...rating mode 8 operating mode selector 8 59 operating requirements 27 operation 7 26 operator dialogs 27 operator s panel 8 57 options 53 outputs 18 47 overspeed protection 6 P password 11 27 payload 9 performance 16 45 PLC functionality 19 position editing 11 execution 17 programming 10 17 position fixed I O 19 power supply 27 printer 11 production window 12 Profibus DP Slave 47 62 program editing...

Page 75: ...ular points 16 soft servo 37 space requirements 21 standards 6 25 stationary TCP 17 stop point 10 structure 5 21 system signals 50 T TCP 17 teach pendant 7 26 teach pendant cable 64 teach pendant lighting 64 temperature 27 testing programs 11 transformer 60 trap routines 19 troubleshooting 12 TrueMove 16 U user defined keys 27 V variants 53 volume 21 W weight 21 window keys 26 windows 7 working sp...

Page 76: ...Index 74 Product Specification IRB 4400 M98A BaseWare OS 3 2 ...