Installation and Commissioning

Installation and CommissioningOn-Site Installation2.11 Connecting the controller to the manipulatorTwo cables are used to connect the controller to the manipulator, one for measuring signalsand the other for motor and brakes.The connection on the manipulator is located on the rear of the robot base.2.11.1 Connection on left-hand side of cabinetThe cables are connected to the left side of the cabinet using an industrial connector anda Burndy connector (see Figure 16). A connector is designated XP when it has pins(male) and XS when it has sockets (female). A screwed connection is designated XT.Motor cable, XP1XS1XS2Measurement cable, XP2Figure 16 Connections on the cabinet wall.2.12 Dimensioning the safety fenceA safety fence must be fitted around the robot to ensure a safe robot installation. Thefence must be dimensioned to withstand the force created if the load being handled bythe robot is dropped or released at maximum speed. The maximum speed is determinedfrom the max. velocities of the robot axes and from the position at which the robot isworking in the workcell. See Product Specification, section 3.8. The max. speed for aload mounted on the IRB 1400 is 5 m/s.Applicable standards are ISO/DIS 11161 (see also chapter 3.13) and prEN 999:1995.Product Manual IRB 1400 21