The ABB IRB 1400 was the successor to the IRB 1500 and is primarily noted for the length of time it has been in production - which started in 1994 and is still ongoing - virtually unmodified. With a 5kg payload and a 1.4m reach the 1400 is perfect for machine tending, pick and place work, MIG and TIG welding, grinding, cutting, fettling and polishing applications. The very slender wrist degin gives the IRB 1400 the ability to work in very confined spaces. Because of the length of time it has been in production the 1400 has been issued with a few different control systems.
The M2000 S4C+controller, although cosmetically similar to the S4C it replaced is quite different internally. Where the S4C used ABB's own computer system (that is in turn very like the S4) the S4C+ has a PC style computer which allows greater connectivity and has much greater power than its predecessors. Similarities to the S4C include the servo drive system, the programming language and teach pendant. Incidentally the reason for the convoluted name was because Siemens had already trademarked the S5 name for their PLC systems! Normally supplied with one I/O card giving 16 inputs and 16 outputs it can be fitted with many more if needed. Analogue I/O is also available. 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 controller also has built in dual chain (0V and +24V) safety circuits meaning that the robot can be run without the need for extra emergency stop relays etc. Because of the controllers excellent connectivity it can easily be used with programs supplied buy a CAD-CAM software system that converts CAD models into robot paths.
      
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