# S4 6400S model?

**URL:** <https://tech-community.robotics.abb.com/t/s4-6400s-model/5328>\
**Category:** RobotStudio\
**Created:** [January 16, 2013, 9:51am UTC](https://tech-community.robotics.abb.com/t/s4-6400s-model/5328 "2013-01-16T09:51:40Z")\
**Posts on this page:** 5\
**Page:** 1

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**Author:** ![msalminen](https://avatars.discourse-cdn.com/v4/letter/m/d07c76/32.png) [@msalminen](https://tech-community.robotics.abb.com/u/msalminen)\
**Post date:** [January 16, 2013, 9:51am UTC](https://tech-community.robotics.abb.com/t/s4-6400s-model/5328/1 "2013-01-16T09:51:40Z")

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Hi,  
Is there somewhere IRB6400S library model available to download. Even RS5 don’t support S4 serie robots, I have understood that I can load library model for old robots and use them (knowing I can’t do everything).

I just need to design new layout (reachability check mostly) and maybe off-line programming new program for our old robots. But I will need the library file for IRB6400Self robot.

Thanks,  
Mika

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**Author:** ![AndersJ](https://avatars.discourse-cdn.com/v4/letter/a/f14d63/32.png) [@AndersJ](https://tech-community.robotics.abb.com/u/AndersJ)\
**Post date:** [January 16, 2013, 11:37am UTC](https://tech-community.robotics.abb.com/t/s4-6400s-model/5328/2 "2013-01-16T11:37:57Z")

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Hi Mika,

Here is the model converted from RS4.  
[webwiz/481/Irb6400S.zip](http://forums.robotstudio.com/webwiz/481/Irb6400S.zip)

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<div class="post-metadata">

**Author:** ![msalminen](https://avatars.discourse-cdn.com/v4/letter/m/d07c76/32.png) [@msalminen](https://tech-community.robotics.abb.com/u/msalminen)\
**Post date:** [January 16, 2013, 12:20pm UTC](https://tech-community.robotics.abb.com/t/s4-6400s-model/5328/3 "2013-01-16T12:20:09Z")

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Thank you,

Which ktx or cfg file I can use with it. Create from Layout ask this.  
In mediabool folder …/SAC\_5…/SpecialApplication/… there seems to be many cfg files for 6400 but not for 6400S\_2.9

What is the difference for cfg file starting EXT\_… and INT\_…

Or should I use stand alone controller? in that case what is the correct kinematic model?

Mika

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**Author:** ![Henrik\_Berlin](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/henrik_berlin/32/1011_2.png) [@Henrik\_Berlin](https://tech-community.robotics.abb.com/u/Henrik_Berlin)\
**Post date:** [January 16, 2013, 3:14pm UTC](https://tech-community.robotics.abb.com/t/s4-6400s-model/5328/4 "2013-01-16T15:14:40Z")

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Hi Mika,

As you pointed out in your first post, IRC5 does not support the IRB 6400S robot. You cannot use it with a IRC5 Virtual Controller. Starting with RobotWare 5.15 a number of S4 robots are supported by the Stand Alone Controller, (IRB 640 and IRB 6400R) but not the IRB 6400S.

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**Author:** ![msalminen](https://avatars.discourse-cdn.com/v4/letter/m/d07c76/32.png) [@msalminen](https://tech-community.robotics.abb.com/u/msalminen)\
**Post date:** [January 17, 2013, 7:07am UTC](https://tech-community.robotics.abb.com/t/s4-6400s-model/5328/5 "2013-01-17T07:07:25Z")

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OK, that’s clear.  
Any chance to get it supported some point of time?

Mika