ABB - IRB 6400C "compact" robot with  S4 Control

The ABB IRB 6400C is a compact version of the 6400 arm which was designed an made by ABB specifically for General Motors. It is of an unusual design as axis one and two are effectively swapped. This gives a very small footprint and a very low overall height, while keeping an impressive reach and a very heavy payload. There are 3 types of 6400C, a left turning, a right turning and a bend back-wards model. The ones we have in stock at present are 150-B types which are the bend back-wards model with a 150kg payload. Take a look at the short video at the bottom of this page to see what this robot is capable of.  

The S4 controller is well regarded for its stability and reliability and because it uses the ABB RAPID programming language it has huge functionality. 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 6400C originally used M94A controllers but these were upgraded by GM and ABB to run on 2.1 software, which is M96 level. 

The IRB 6400C arm and controller are both protected to IP54 with the wrist getting additional protection to IP55 this means that the robot is well suited to industrial environments. The IRB 6400C is quite unusual on the used market but we bought over 120 of them. They are proving especially popular in situations where the standard 6400 is physically too big to be used, such as working with medium size injection molding machines and installations where headroom is a problem. The 6400C is also suited to milling applications as the arm structure is very solid. It can also be used in palletising and handling applications. If you require any further information please contact us.

An IRB 6400C ready to ship	The S4 M94A cabinet that controls the 6400C
Another finished, repainted robot	Movement diagram for the 6400C
Dimensions of the 6400C robot arm	Working space diagram for the 6400C type we have
Dimensions of the end effector mounting plate	Loading capacity diagram for the 150kg payload 6400C
Mounting dimensions for the 6400C arm	Close up of the S4 teach pendant

Specification