The ABB IRB 6400 is the successor to the ABB IRB 6000 model. In appearance the appear to be very similar and indeed mechanically they are very closely related sharing many of the same castings. The most significant changes are to the control system, and more specifically the teach pendant. The 6400 has very similar specifications to the 6000 with a standard 120kg capacity and 2.4m reach. The main advantages being in path following accuracy and the use of the ABB RAPID programming language. The S4 controller is well regarded for its stability and reliability. Normally supplied with 32 I/O it can be fitted with up to 96 digital inputs and 96 digital outputs. The controller can also work as a PLC by controlling and monitoring I/O signals. Up to 3 background programs (for monitoring signals for example) can be run in parallel with the actual robot program and even when the robot program has stopped. Outputs can be set at a specific time or distance before a programmed position and can be executed concurrent to the robot motion. The standard IRB 6400 arm and controller are both protected to IP54 with the wrist getting additional protection to IP55 this …
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