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IRB 4600-40-ABB机器人资料


Product specification
Articulated robot
IRB 4600 - 60/2.05 IRB 4600 - 45/2.05 IRB 4600 - 40/2.55 IRB 4600 - 20/2.50 M2004

Product specification IRB 4600-60/2.05 IRB 460

0-45/2.05 IRB 4600-40/2.55 IRB 4600-20/2.50
Document ID: 3HAC032885-001 Revision: E

? Copyright 2008-2009 ABB. All rights reserved.

The information in this manual is subject to change without notice and should not be construed as a commitment by ABB. ABB assumes no responsibility for any errors that may appear in this manual. Except as may be expressly stated anywhere in this manual, nothing herein shall be construed as any kind of guarantee or warranty by ABB for losses, damages to persons or property, fitness for a specific purpose or the like. In no event shall ABB be liable for incidental or consequential damages arising from use of this manual and products described herein. This manual and parts thereof must not be reproduced or copied without ABB's written permission, and contents thereof must not be imparted to a third party nor be used for any unauthorized purpose. Contravention will be prosecuted. Additional copies of this manual may be obtained from ABB at its then current charge.
? Copyright 2008-2009 ABB. All rights reserved.

Copyright 2008-2009 ABB All rights reserved. ABB AB Robotics Products 721 68 V?ster?s Sweden

Table of Contents

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 1 Description 7

1.1 Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

1.1.1 Introduction to Structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 1.1.2 Different robot versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.2 Safety/Standards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

1.2.1 Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 1.2.2 Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.3 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

1.3.1 Introduction to Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 1.3.2 Operating requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 1.3.3 Mounting the manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
1.4 Calibration and references. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

1.4.1 Fine calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 1.4.2 Absolute Accuracy calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
1.5 Robot load and load diagrams. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

1.5.1 Introduction to Robot load and load diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 1.5.2 Load diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 1.5.3 Maximum load and moment of inertia for full and limited axis 5 (center line down) movement . 34 1.5.4 Wrist torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
1.6 Mounting equipment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

1.6.1 Information about mounting equipment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
1.7 Maintenance and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

1.7.1 Introduction to Maintenance and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
1.8 Robot Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

1.8.1 Introduction to Robot Motion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 1.8.2 Performance according to ISO 9283 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 1.8.3 Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 1.8.4 Stopping distance/time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
1.9 Customer connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

1.9.1 Introduction to Customer connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
? Copyright 2008-2009 ABB. All rights reserved.

2 Specification of Variants and Options

51

2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

2.1.1 Introduction to Variants and Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 2.1.2 Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 2.1.3 Floor cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 3 Accessories 57

3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

3.1.1 Introduction to Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

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Table of Contents

3HAC032885-001 Revision: E

? Copyright 2008-2009 ABB. All rights reserved.

Overview

Overview
About This Product specification It describes the performance of the manipulator or a complete family of manipulators in terms of: ? ? ? ? Users This manual is intended for: ? ? ? Contents Please see Table of Contents. Revisions Revision
A B C D E
? Copyright 2008-2009 ABB. All rights reserved.

The structure and dimensions prints The fulfillment of standards, safety and operating requirements The load diagrams, mounting or extra equipment, the motion and the robot reach The specification of variants and options available

Product managers and personnel Sales and Marketing personnel Order and Customer Service personnel

Description
- New product specification - Updated/Corrected Loaddiagram - Corrected working range floor mounted - General updates and corrections - Corrected chapter. Mounting surface and bushings - Foundry Plus 2

Complementary Product specifications Product specification
Controller Controller Software IRC5 Product manual Manipulator

Description
IRC5 with FlexPendant, 3HAC021785-001 Robotware 5.12, 3HAC022349-001 Description IRB 4600, 3HAC033453-001

Robot User Documentation IRC5 and M2004, 3HAC024534-001

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6

Overview

3HAC032885-001 Revision: E

? Copyright 2008-2009 ABB. All rights reserved.

1 Description
1.1.1. Introduction to Structure

1 Description
1.1 Structure 1.1.1. Introduction to Structure
Robot family The IRB 4600 series is ABB Robotics pioneer of the new sharp generation with enhanced and new capabilities. The design has been optimized to make it superior for the targeted applications. The IRB 4600 will focus on further expansion in cutting, dispensing, machining, measuring, assembly and welding applications. Software product range We have added a range of software products - all falling under the umbrella designation of Active Safety - to protect not only personnel in the unlikely event of an accident, but also robot tools, peripheral equipment and the robot itself. Operating system The robot is equipped with the operating system BaseWare OS. BaseWare OS controls every aspect of the robot, like motion control, development and execution of application programs, communication etc. see Product specification - Controller IRC5 with FlexPendant. Additional functionality For additional functionality, the robot can be equipped with optional software for application support - for example spot welding, communication features - network communication - and advanced functions such as multi-tasking, sensor control, etc. For a complete description on optional software, see Product specification - Controller software IRC5. Foundry Plus 2
? Copyright 2008-2009 ABB. All rights reserved.

The Foundry Plus option is designed for harsh environments where the robot is exposed to sprays of coolants, lubricants and metal spits that are typical for die casting applications or other similar applications. The Foundry Plus robot is painted with two-component epoxy on top of a special primer for excellent corrosion protection. To further improve the corrosion protection additional rust preventive are applied to exposed areas, e.g. has the tool flange a special preventive coating. The entire robot is IP67 compliant according to IEC 60529 - from base to wrist, which means that the electrical compartments are virtually sealed against liquid and solid contaminants. Among other things all sensitive parts are highly protected. Foundry Plus features: ? ? ? ? Improved sealing to prevent damp from penetrating into cavities Additional protection of cabling and electronics Special covers protecting cavities Special connectors

The Foundry Plus robot can be cleaned with adequate washing equipment.

Continues on next page
3HAC032885-001 Revision: E 7

1 Description
1.1.1. Introduction to Structure Continued Foundry Prime 2 Only available for IRB4600-60/2.05 variant The robot version Foundry Prime is designed for water jet cleaning of casts and machined parts, and similar very harsh environments.The manipulator can withstand surrounding solvent based detergent (max. pH 9.0 and must contain rust inhibitor). The detergent must be approved by ABB. In addition, the manipulator can withstand indirect spray from jet pressure (max. 600 bar) and 100% humidity. The manipulator can work in an environment with a cleaning bath temperature < 60°C, typically used in a water jet cleaning application with moderate speed.The robot is protected by special sealings for gears and bearings, pressurized motors and electronic compartment, special detergent resistant polyurethane painting system in three layers. Non painted surfaces has a special rust preventive coating, and motors are sealed with a sealing compound.As the robot is designed for very harsh environments, an extended service and maintenance program is required. For detailed information of the maintenance program, see chapter Maintenance in the Product Manual. Manipulator axes

-

(C)

(D)

+
(E)

+
(F)

+
(B)

+

-

-

+
xx0800000431

-

(A)

Pos
A C E

Description
Axis 1 Axis 3 Axis 5

Pos
B D F

Description
Axis 2 Axis 4 Axis 6

8

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? Copyright 2008-2009 ABB. All rights reserved.

1 Description
1.1.2. Different robot versions

1.1.2. Different robot versions
General The IRB 4600 is available in four versions and all versions can be mounted inverted. Robot type
IRB 4600 IRB 4600 IRB 4600 IRB 4600

Handling capacity (kg)
60 kg 45 kg 40 kg 20 kg

Reach (m)
2.05 m 2.05 m 2.55 m 2.50 m

Manipulator weight Robot type
IRB 4600-60/2.05 IRB 4600-45/2.05 IRB 4600-40/2.55 IBB 4600-20/2.50

Weight
425 kg 425 kg 435 kg 412 kg

Other technical data Data
Airborne noise level

Description
The sound pressure level outside the working space

Note
<72 dB (A) Leq (acc. to Machinery directive 98/37/EEC)

Power consumption at max load Type of Movement
ISO Cube Max. velocity
? Copyright 2008-2009 ABB. All rights reserved.

IRB 4600 (all variants)
-60/2.05 1.53 kW -45/2.05 1.43 kW -40/2.55 1.62 kW -20/2.50 1.50 kW

Robot in calibration position
Brakes engaged Brakes disengaged

-60/2.05 0.24 kW 0.66 kW

-45/2.05 0.24 kW 0.60 kW

-40/2.55 0.24 kW 0.65 kW

-20/2.50 0.24 kW 0.52 kW

Continues on next page
3HAC032885-001 Revision: E 9

1 Description
1.1.2. Different robot versions Continued

xx0800000431

Continues on next page
10 3HAC032885-001 Revision: E

? Copyright 2008-2009 ABB. All rights reserved.

1 Description
1.1.2. Different robot versions Continued Dimensions IRB 4600-60(45)/2.05 and IRB 4600-40/2.55

? Copyright 2008-2009 ABB. All rights reserved.

xx0800000430

Pos
A B

Description
R 400 Minimum turning radius of axis 1 R 138 Minimum turning radius of axis 4

Variant
IRB 4600-60/2.05 IRB 4600-45/2.05 IRB 4600-40/2.55

Pos. C
1727 mm 1727 mm 1922 mm

Pos. D
900 mm 900 mm 1095 mm

Pos. E
1276 mm 1276 mm 1586 mm

Pos. F
960 mm 960 mm 1270 mm

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1 Description
1.1.2. Different robot versions

Dimensions IRB 4600-20/2.50

xx0800000428

Pos
A B

Description
R 98 Minimum turning radius of axis 4 For all other dimensions see Figure 3

12

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? Copyright 2008-2009 ABB. All rights reserved.

CL

1 Description
1.2.1. Standards

1.2 Safety/Standards 1.2.1. Standards
Standards The robot conforms to the following standards:
EN ISO 12100-1 EN ISO 12100-2 EN 954-1 EN 60204 EN ISO 60204-1:2005 EN ISO 10218-1:2006 EN 609074-10:2003 EN 61000-6-4: 2001 EN 61000-6-2: 2005 Safety of machinery, terminology Safety of machinery, technical specification Safety of machinery, safety related parts of control Systems Electrical equipment of machines Safety of machinery - Electrical equipment of machines Robots for industrial environments - Safety requirements Arc welding equipment - part 10: electromagnetic capability (EMC) requirements EMC, Generic emission EMC, Generic immunity

a. There is a deviation from paragraph 6.2 in that only worst case stop distances and stop times are documented Standard
IEC 60529

Description
Degrees of protection provided by enclosures

Standard
ISO 9787

Description
Manipulating industrial robots, coordinate Systems and motions

Standard
ANSI/RIA 15.06/1999
? Copyright 2008-2009 ABB. All rights reserved.

Description
Safety Requirements for Industrial Robots and Robot Systems Safety Standard for Robots and Robotic Equipment Industrial Robots and Robot Systems - General Safety Requirements

ANSI/UL 1740-1998 (option) CAN/CSA Z 434-03 (option)

Continues on next page
3HAC032885-001 Revision: E 13

1 Description
1.2.2. Safety Continued

1.2.2. Safety
Safety The robot complies fully with the health and safety standards specified in the EEC’s Machinery Directives. Safety function
The Service Information System (SIS)

Description
The service information system gathers information about the robot’s usage and determines how hard the robot is used. The usage is characterized by the speed, the rotation angles and the load of every axis. With this data collection, the service interval of every individual robot of this generation can be predicted, optimized and service activities planned ahead. The collection data is available via the FlexPendant or the network link to the robot. The Process Robot Generation is designed with absolute safety in mind. It is dedicated to actively or passively avoid collisions and offers the highest level of safety to the operators and the machines as well as the surrounding and attached equipment. These features are presented in the active and passive safety system. The time the robot is in operation (brakes released) is indicated on the FlexPendant. Data can also be monitored over network, using for example WebWare.

The Active Safety System
General

Description
The active safety system includes those software features that maintain the accuracy of the robot’s path and those that actively avoid collisions which can occur if the robot leaves the programmed path accidentally or if an obstacle is put into the robot’s path. All robots are delivered with an active brake system that supports the robots to maintain the programmed path in General Stop (GS), Auto Stop (AS) and Superior Stop (SS). The ABS is active during all stop modes, braking the robot to a stop with the power of the servo drive system along the programmed path. After a specific time the mechanical brakes are activated ensuring a safe stop. The stopping process is in accordance with a class 1 stop. The maximum applicable torque on the most loaded axis determines the stopping distance. In case of a failure of the drive system or a power interruption, a class 0 stop turns out. Emergency Stop (ES) is a class 0 stop. All stops (GS, AS, SS and ES) are reconfigurable. While programming the robot in manual mode, the enabling device has a class 0 stop.

Continues on next page
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The Active Brake System (ABS)

1 Description
1.2.2. Safety Continued The Active Safety System
The Self Tuning Performance (STP)

Description
The Process Robot Generation is designed to run at different load configurations, many of which occur within the same program and cycle. The robot’s installed electrical power can thus be exploited to lift heavy loads, create a high axis force or accelerate quickly without changing the configuration of the robot. Consequently the robot can run in a “power mode” or a “speed mode” which can be measured in the respective cycle time of one and the same program but with different tool loads. This feature is based on QuickMoveTM. The respective change in cycle time can be measured by running the robot in NoMotionExecution with different loads or with simulation tools like RobotStudio. The load and inertia of the tool have a significant effect on the path performance of a robot. The Process Robot Generation is equipped with a system to electronically stabilize the robot’s path in order to achieve the best path performance. This has an influence while accelerating and braking and consequently stabilizes the path during all motion operations with a compromise of the best cycle time. This feature is secured through TrueMoveTM. The speed of the robot is monitored by two independent computers. The movement of each axis can be restricted using software limits. As options there are safeguarded space stops for connection of position switches to restrict the working space for the axes 13.Axes 1-3 can also be restricted by means of mechanical stops.

The Electronically Stabilised Path (ESP)

Over-speed protection Restricting the working space

Collision detection (option) In case of an unexpected mechanical disturbance, such as a collision, electrode sticking, etc., the robot will detect the collision, stop on the path and slightly back off from its stop position, releasing tension in the tool.
? Copyright 2008-2009 ABB. All rights reserved.

The Passive Safety System
General

Description
The Process Robot Generation has a dedicated passive safety system that by hardware construction and dedicated solutions is designed to avoid collisions with surrounding equipment. It integrates the robot system into the surrounding equipment safely.

Compact robot arm design The shape of the lower and upper arm system is compact, avoiding interference into the working envelope of the robot.The lower arm is shaped inward, giving more space under the upper arm to re-orientate large parts and leaving more working space while reaching over equipment in front of the robot. The rear side of the upper arm is compact, with no components projecting over the edge of the robot base even when the robot is moved into the home position. Moveable mechanical limitation of axis 1 (option) Axis 1 can be equipped with moveable mechanical stops, limiting the working range of the axis. The mechanical stops are designed to withstand a collision even under full load.

Continues on next page
3HAC032885-001 Revision: E 15

1 Description
1.2.2. Safety Continued The Passive Safety System

Description

Electronic Position EPS offers axes position status signals, fulfilling applicable Switches (EPS) on up to 7 regulations for personnel safety. Five outputs can each be axes (option) configured to reflect the position of a single axis or a combination of axes. For each output, the range for each included axis can be set arbitrarily.

The Internal Safety Concept
General

Description
The internal safety concept of the Process Robot Generation is based on a two-channel circuit that is monitored continuously. If any component fails, the electrical power supplied to the motors shuts off and the brakes engage. Malfunction of a single component, such as a sticking relay, will be detected at the next MOTOR OFF/MOTOR ON operation. MOTOR ON is then prevented and the faulty section is indicated. This complies with category 3 of EN 954-1, Safety of machinery - safety related parts of control Systems - Part 1. The robot can be operated either manually or automatically. In manual mode, the robot can only be operated via the FlexPendant, that is not by any external equipment. In manual mode, the speed is limited to a maximum of 250 mm/ s (600 inch/min.). The speed limitation applies not only to the TCP (Tool Center Point), but to all parts of the robot. It is also possible to monitor the speed of equipment mounted on the robot. The enabling device on the FlexPendant must be used to move the robot when in manual mode. The enabling device consists of a switch with three positions, meaning that all robot movements stop when either the enabling device is pushed fully in, or when it is released completely. This makes the robot safer to operate.
? Copyright 2008-2009 ABB. All rights reserved.

Safety category 3

Selecting the operating mode Reduced speed

Three position enabling device

Safe manual movement Emergency stop

The robot is moved using a joystick instead of the operator having to look at the FlexPendant to find the right key. There is one emergency stop push button on the controller and another on the FlexPendant. Additional emergency stop buttons can be connected to the robot’s safety chain circuit. The robot has a number of electrical inputs which can be used to connect external safety equipment, such as safety gates and light curtains. This allows the robot’s safety functions to be activated both by peripheral equipment and by the robot itself. A delayed stop gives a smooth stop. The robot stops the same way as at a normal program stop with no deviation from the programmed path. After approx. 1 second the power supplied to the motors is shut off. “Hold-to-run” means that you must depress the start button in order to move the robot. When the button is released the robot will stop. The hold-to-run function makes program testing safer. Both the manipulator and control system comply with UL’s (Underwriters Laboratories Inc.) tough requirements for fire safety.

Safeguarded space stop

Delayed safeguarded space stop

Hold-to-run control

Fire safety

16

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1 Description
1.2.2. Safety

The Internal Safety Concept
Safety lamp (option)

Description
As an option, the robot can be equipped with a safety lamp mounted on the manipulator. This is activated when the motors are in the MOTORS ON state.

? Copyright 2008-2009 ABB. All rights reserved.

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1 Description
1.3.1. Introduction to Installation

1.3 Installation 1.3.1. Introduction to Installation
General All versions of IRB 4600 are designed for floor mounting, tilted (up to 15 degrees) or inverted mounting. Depending on the robot version, an end effector with max. weight of 20 or 60 kg including payload, can be mounted on the tool flange (axis 6). See Load diagrams on page 27. Extra loads Extra loads, which are included in the load diagrams, can be mounted on the upper arm. An extra load of 35 kg can also be mounted on the frame of axis 1. See Information about mounting equipment on page 37 Working range limitations The working range of axis 1 can be limited by mechanical stops as option. Electronic Position Switches can also be used on all axes for position indication of the manipulator.

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1 Description
1.3.2. Operating requirements

1.3.2. Operating requirements
Protection standards Standard IP67 and Foundry Plus IP67. Explosive environments The robot must not be located or operated in an explosive environment. Ambient temperature Description
Manipulator during operation For the controller Complete robot during transportation and storage For short periods (not exceeding 24 hours)

Standard/Option Temperature
Standard Standard/Option Standard Standard + 5°C (41°F) to + 45°C (113°F) See Product specification - Controller IRC5 with FlexPendant - 25°C (- 13°F) to + 55°C (131°F) up to + 70°C (158°F)

Relative humidity Description Relative humidly

Complete robot during operation, transportation and Max. 95% at constant temperature storage

? Copyright 2008-2009 ABB. All rights reserved.

Continues on next page
3HAC032885-001 Revision: E 19

1 Description
1.3.3. Mounting the manipulator Continued

1.3.3. Mounting the manipulator
Maximum load Maximum load in relation to the base coordinate system Mounting
Force XY Force Z Torque XY Torque Z Floor, suspended Floor mounted Suspended Floor, suspended Floor, suspended

Endurance load in operation
± 3950 N 4350 ± 1700 N - 4350 ± 1700 N ± 6350 Nm ± 1650 Nm

Max. load at Emergency stop
± 7800 N 4350 ± 5500 N - 4350 ± 5500 N ± 6350 Nm ± 3000 Nm

A B B R o b o t i c s P ro d u c t s A B

xx0800000435

xx0800000436

Note regarding Mxy and Fxy The bending torque (Mxy) can occur in any direction in the XY-plane of the base coordinate system.The same applies to the transverse force (Fxy). Continues on next page
20 3HAC032885-001 Revision: E

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1 Description
1.3.3. Mounting the manipulator Continued Fastening holes robot base

xx0800000271

Attachment bolts, specification The table below specifies required bolts and washers for securing the robot at installation site Specification
Attachment bolts, 6 pcs

Description
M16 x 60 (installation directly on foundation)M16 x 70/80 (installation on foundation or base plate, using guiding sleeves) 17 x 30 x 3 Quality 8.8 200 Nm

Washers, 6 pcs Quality Tightening torque

? Copyright 2008-2009 ABB. All rights reserved.

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1 Description
1.3.3. Mounting the manipulator

NOTE! AbsAcc performance, the chosen guide holes according to Figure above are recommended Mounting surface and bushings

xx0800000415

Pos
A B C

Description
Surface treatment, ISO 2081 Fe/Zn 8 c2, Guide bushing View D 3x common zone
? Copyright 2008-2009 ABB. All rights reserved.

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3HAC032885-001 Revision: E

1 Description
1.4.1. Fine calibration

1.4 Calibration and references 1.4.1. Fine calibration
General Fine calibration is made using the Calibration Pendulum, please see Operating manual Calibration Pendulum

(C)

(D) (E)

(F) (B) (A)

xx0800000437

Pos
A C E

Description
Axis 1 Axis 3 Axis 5

Pos
B D F

Description
Axis 2 Axis 4 Axis 6

? Copyright 2008-2009 ABB. All rights reserved.

Calibration Calibration
Calibration of all axes Calibration of axis 1 and 2 Calibration of axis 1

Position
All axes are in zero position Axis 1 and 2 in zero position Axis 3 to 6 in any position Axis 1 in zero position Axis 2 to 6 in any position

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3HAC032885-001 Revision: E 23

1 Description
1.4.2. Absolute Accuracy calibration Continued

1.4.2. Absolute Accuracy calibration
General Requires RobotWare option Absolute Accuracy, please see Product specification - Controller software IRC5 for more details. The calibration concept Absolute Accuracy (AbsAcc) is a calibration concept, which ensures a TCP absolute accuracy of better than ±1 mm in the entire working range (working range of bending backward robots, for example IRB 4600, are limited to only forward positions). Absolute accuracy compensates for: ? ? Mechanical tolerances in the robot structure Deflection due to load

Absolute accuracy calibration is focusing on positioning accuracy in the cartesian coordinate system for the robot. It also includes load compensation for deflection caused by the tool and equipment. Tool data from robot program is used for this purpose. The positioning will be within specified performance regardless of load. Calibration data The user is supplied with robot calibration data (compensation parameter file, absacc.cfg) and a certificate that shows the performance (Birth certificate). The difference between an ideal robot and a real robot without AbsAcc can typically be 8 mm, resulting from mechanical tolerances and deflection in the robot structure.

24

3HAC032885-001 Revision: E

? Copyright 2008-2009 ABB. All rights reserved.

1 Description
1.4.2. Absolute Accuracy calibration

Absolute Accuracy option Absolute Accuracy option is integrated in the controller algorithms for compensation of this difference and does not need external equipment or calculation.Absolute Accuracy is a RobotWare option and includes an individual calibration of the robot (mechanical arm).Absolute Accuracy is a TCP calibration in order to Reach (m) a good positioning in the Cartesian coordinate system.

xx0900000073

Production data Typical production data regarding calibration are: Robot
IRB 4600
? Copyright 2008-2009 ABB. All rights reserved.

Positioning accuracy (mm) Average
-60/2.05 -45/2.05 -40/2.55 -20/2.50 0,4 0,4

Max
0,9 0,9

% Within 1 mm
100 100

IRB 4600

3HAC032885-001 Revision: E

25

1 Description
1.5.1. Introduction to Robot load and load diagrams

1.5 Robot load and load diagrams 1.5.1. Introduction to Robot load and load diagrams
Information WARNING! It is very important to always define correct actual load data and correct payload of the robot. Incorrect definitions of load data can result in overloading of the robot. If incorrect load data and/or loads are outside load diagram is used the following parts can be damaged due to overload: ? ? ? motors gearboxes mechanical structure

WARNING! In the robot system is the service routine LoadIdentify available, which allows the user to make an automatic definition of the tool and load, to determine correct load parameters. Please see Operating Manual - IRC5 with FlexPendant, art. No. 3HAC16590-1, for detailed information. WARNING! Robots running with incorrect load data and/or with loads outside diagram, will not be covered by robot warranty. General The load diagrams include a nominal payload inertia, J0 of 2.5 kgm2 for IRB 4600-60/2.05, 45/2.05, -40/2.55 and 0.06 kgm2 for IRB 4600-20/2.50, and an extra load of 15 kg at the upper arm housing for IRB 4600-60/2.05, -45/2.05, -40/2.55 and 10 kg for IRB 4600-20/2.50.
? Copyright 2008-2009 ABB. All rights reserved.

At different arm load, payload and moment of inertia, the load diagram will be changed. Control of load case by "RobotLoad" For an easy check of a specific load case, use the calculation program ABB RobotLoad. Please contact your local ABB organization.

Continues on next page
26 3HAC032885-001 Revision: E

1 Description
1.5.2. Load diagrams Continued

1.5.2. Load diagrams
IRB 4600 - 60/2.05

? Copyright 2008-2009 ABB. All rights reserved.

50 kg

xx0800000447

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3HAC032885-001 Revision: E 27

1 Description
1.5.2. Load diagrams Continued IRB 4600 - 60/2.05 "Vertical wrist" (+-10)

xx0900000070

For wrist down (0 deviation from the vertical line). Description
Max load Zmax Lmax 73 kg 0,216 m 0,028 m

Continues on next page
28 3HAC032885-001 Revision: E

? Copyright 2008-2009 ABB. All rights reserved.

1 Description
1.5.2. Load diagrams Continued IRB 4600 - 45/2.05

? Copyright 2008-2009 ABB. All rights reserved.

xx0900000069

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3HAC032885-001 Revision: E 29

1 Description
1.5.2. Load diagrams Continued IRB 4600 - 40/2.55

xx0800000447

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30 3HAC032885-001 Revision: E

? Copyright 2008-2009 ABB. All rights reserved.

1 Description
1.5.2. Load diagrams Continued IRB 4600 - 40/2.55 "Vertical wrist" (+-10)

? Copyright 2008-2009 ABB. All rights reserved.

xx0900000068

For wrist down (0 deviation from the vertical line). Description
Max load Zmax Lmax 47 kg 0,157 m 0,044 m

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3HAC032885-001 Revision: E 31

1 Description
1.5.2. Load diagrams Continued IRB 4600 - 20/2.50

xx0900000071

32

3HAC032885-001 Revision: E

? Copyright 2008-2009 ABB. All rights reserved.

1 Description
1.5.2. Load diagrams

IRB 4600 - 20/2.50 "Vertical wrist" (+-10)

? Copyright 2008-2009 ABB. All rights reserved.

xx0900000067

For wrist down (0 deviation from the vertical line). Description
Max load Zmax Lmax 23 kg 0,1 m 0,06 m

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3HAC032885-001 Revision: E 33

1 Description
1.5.3. Maximum load and moment of inertia for full and limited axis 5 (center line down) movement Continued

1.5.3. Maximum load and moment of inertia for full and limited axis 5 (center line down) movement
Information NOTE! Total load given as: Mass in kg, center of gravity (Z and L) in meter and moment of inertia (Jox Joy Joz) in kgm2. L=sqr(x2 + y2), see Figure 18 Full movement of axis 5 Axis
5

Robot Type
40/2.55 20/2.50

Maximum moment of inertia
Ja5 = Load x ((Z + 0,1352 + L2) + max (J0x, J0y) = 20 kgm2 Ja5 = Load x ((Z + 0,085)2 + L2) + max (J0x, J0y) = 2 kgm2 Ja6 = Load x L2 + J0Z. 15 kgm2 Ja6 = Load x L2 + J0Z. 1 kgm2

60/2.05, 45/2.05 Ja5 = Load x ((Z + 0,1352 + L2) + max (J0x, J0y) = 30 kgm2

6

60/2.05, 45/2.05 Ja6 = Load x L2 + J0Z. 20 kgm2 40/2.55 20/2.50

xx0800000458

Pos
A

Description
Center of gravity
? Copyright 2008-2009 ABB. All rights reserved.

Description
Jox, Joy, Joz Max. moment of inertia around the X, Y and Z axes at center of gravity.

Limited axis 5, center line down Axis
5

Robot Type
40/2.55 20/2.50

Maximum moment of inertia
Ja5 = Load x ((Z + 0,135)2 + L2) + max (J0x, J0y) = 20 kgm2 Ja5 = Load x ((Z + 0,0852 + L2) + max (J0x, J0y) = 2 kgm2 Ja6 = Load x L2 + J0Z = 15 kgm2 Ja6 = Load x L2 + J0Z = 1 kgm2

60/2.05, 45/2.05 Ja5 = Load x ((Z + 0,135)2 + L2) + max (J0x, J0y) = 30 kgm2

6

60/2.05, 45/2.05 Ja6 = Load x L2 + J0Z = 20kgm2 40/2.55 20/2.50

34

3HAC032885-001 Revision: E

1 Description
1.5.3. Maximum load and moment of inertia for full and limited axis 5 (center line down) movement

xx0800000459

Pos
A

Description
Center of gravity

Description
Jox, Joy, Joz Max. moment of inertia around the X, Y and Z axes at center of gravity.

? Copyright 2008-2009 ABB. All rights reserved.

3HAC032885-001 Revision: E

35

1 Description
1.5.4. Wrist torque

1.5.4. Wrist torque
Maximum torque due to payload The table below shows the maximum permissible torque due to payload: NOTE! The values are for reference only, and should not be used for calculating permitted load offset (position of center of gravity) within the load diagram, since those also are limited by main axes torques as well as dynamic loads. Also arm loads will influence the permitted load diagram. For finding the absolute limits of the load diagram, please use the ABB RobotLoad. Please contact your local ABB organization.

Robot type
IRB 4600 - 60/2.05 IRB 4600 - 45/2.05 IRB 4600 - 40/2.55 IRB 4600 - 20/2.50

Max wrist torque Max wrist torque Max torque valid axis 4 and 5 axis 6 at load
200 Nm 145 Nm 132 Nm 37 Nm 105 Nm 77 Nm 68 Nm 15 Nm 60 kg 45 kg 40 kg 20 kg

Continues on next page
36 3HAC032885-001 Revision: E

? Copyright 2008-2009 ABB. All rights reserved.

1 Description
1.6.1. Information about mounting equipment Continued

1.6 Mounting equipment 1.6.1. Information about mounting equipment
General Extra loads can be mounted on the wrist, the upper arm housing and on the frame. Definitions of load areas and permitted load are shown in. The center of gravity of the extra load shall be within the marked load areas. The robot is supplied with holes for mounting of extra equipment. (See figures in Holes for mounting of extra equipment on page 38.)

? Copyright 2008-2009 ABB. All rights reserved.

xx0800000434

Continues on next page
3HAC032885-001 Revision: E 37

1 Description
1.6.1. Information about mounting equipment Continued Max load A
15 kg 15 kg 15 kg 10 kg

Load area Robot
IRB 4600 - 60/2.05 IRB 4600 - 45/2.05 IRB 4600 - 40/2.55 IRB 4600 - 20/2.50

B
5 kga 5 kg 5 kg 1 kg
b c

C
15 kg 15 kg 15 kg 10 kg

A+C
15 kg 15 kg 15 kg 10 kg

D
35 kg 35 kg 35 kg 35 kg

a. Payload + B max 60kg b. Payload + B max 45kg c. Payload + B max 40kg Holes for mounting of extra equipment

xxx0800000414

XX0800000412

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38 3HAC032885-001 Revision: E

? Copyright 2008-2009 ABB. All rights reserved.

1 Description
1.6.1. Information about mounting equipment Continued

xx0800000419

? Copyright 2008-2009 ABB. All rights reserved.

xx0800000418

Continues on next page
3HAC032885-001 Revision: E 39

1 Description
1.6.1. Information about mounting equipment Continued

xx0800000416

xx0800000417

xx0800000421

Continues on next page
40 3HAC032885-001 Revision: E

? Copyright 2008-2009 ABB. All rights reserved.

1 Description
1.6.1. Information about mounting equipment Continued

xx0800000409

xx0800000408

? Copyright 2008-2009 ABB. All rights reserved.

xx0800000411

Continues on next page
3HAC032885-001 Revision: E 41

1 Description
1.6.1. Information about mounting equipment Continued IRB 4600-40/2.55 and IRB 4600-20/2.50

xx0800000423

IRB 4600 60(45)/2.05

xx0800000425

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3HAC032885-001 Revision: E

? Copyright 2008-2009 ABB. All rights reserved.

1 Description
1.6.1. Information about mounting equipment

Tool flange IRB 4600-20/2.50

xx0800000449

IRB 4600-60/2.05, IRB4600-45/2.05 and IRB 4600-40/2.55

? Copyright 2008-2009 ABB. All rights reserved.

xx0800000450

For fastening of Gripper tool flange to Robot tool flange every other one of the screw holes for 6 screws, quality class 12.9 shall be used. Min. 15 mm free threads lenght.

3HAC032885-001 Revision: E

43

1 Description
1.7.1. Introduction to Maintenance and Troubleshooting

1.7 Maintenance and Troubleshooting 1.7.1. Introduction to Maintenance and Troubleshooting
General The robot requires only minimum maintenance during operation. It has been designed to make it as easy to service as possible: ? ? ? Maintenance-free AC motors are used. Oil is used for the gear boxes. The cabling is routed for longevity, and in the unlikely event of a failure, its modular design makes it easy to change.

Maintenance The maintenance intervals depend on the use of the robot, the required maintenance activities also depends on selected options. For detailed information on maintenance procedures, see Maintenance section in the Product Manual.

Continues on next page
44 3HAC032885-001 Revision: E

? Copyright 2008-2009 ABB. All rights reserved.

1 Description
1.8.1. Introduction to Robot Motion Continued

1.8 Robot Motion 1.8.1. Introduction to Robot Motion
IRB 4600 Axis
1 2 3 4 5 6

Type of motion
Rotation Motion Arm motion Arm motion Rotation motion Bend motion Turn motion

Range of movement
+ 180° to - 180° + 150° to - 90° + 75° to - 180° + 400° to - 400° Default + 201 rev.a to - 201 rev. Max.c + 120° to - 125° b + 400° to - 400° Default + 241 rev.a to - 241c rev. Max.d

a. rev. = Revolutions. b. IRB 4600-20/2.50, + 120° to -120°. c. Valid for IRB 4600-20/2.50 is + 183 to - 183 rev. d. The default working range for axis 4 and axis 6 can be extended by changing parameter values in the software. Option 610-1 "Independent axis" can be used for resetting the revolution counter after the axis has been rotated (no need for "rewinding" the axis)

? Copyright 2008-2009 ABB. All rights reserved.

3HAC032885-001 Revision: E

45

1 Description
1.8.1. Introduction to Robot Motion

Working range, floor mounted

xx0800000267

Variant
IRB 4600-60/2.05 IRB 4600-45/2.05 IRB 4600-40/2.55 IRB 4600-20/2.50

Pos. A
2371 mm 2371 mm 2872 mm 2833 mm

Pos. B
1260 mm 1260 mm 1735 mm 1696 mm

Pos. C
1028 mm 1028 mm 1393 mm 1361 mm

Pos. D
593 mm 593 mm 680 mm 665 mm

Pos. E
1701 mm 1701 mm 2202 mm 2163 mm

Pos. F
2051 mm 2051 mm 2552 mm 2513 mm
? Copyright 2008-2009 ABB. All rights reserved.

46

3HAC032885-001 Revision: E

1 Description
1.8.2. Performance according to ISO 9283

1.8.2. Performance according to ISO 9283
General At rated maximum load, maximum offset and 1.6 m/s velocity on the inclined ISO test plane, 1m cube with all six axes in motion The figures for AP, RP, AT and RT are measured according to figure below.

xx0800000424

Pos
A B AP RP

Description
Programmed position Mean position at program execution Mean distance from programmed position Tolerance of position B at repeated positioning

Pos
E D AT RT

Description
Programmed path Actual path at program execution Max deviation from E Tolerance of the path at repeated program execution

Description

IRB 4600 - 60/2.05 -45/2.05
0.05 0.02 0.13 0.48 0.13

- 40/2.55
0.06 0.02 0.28 0.57 0.40

- 20/2.50
0.05 0.03 0.17 0.93 0.19

Pose repeatability, RP (mm)
? Copyright 2008-2009 ABB. All rights reserved.

0.06 0.02
b

Pose accuracy, AP (mm) Linear path repeatability, RT (mm)

a

0.46 0.74 0.10

Linear path accuracy, ATb (mm) Pose stabilization time, (PSt) to within 0.4 mm of the position (s)

a.AP according to the ISO test above, is the difference between the reached position (position manually modified in the cell) and the average position obtained during program execution b. The values for RT and AT are measured at a velocity of 250 mm/s The above values are the range of average test results from a number of robots.

3HAC032885-001 Revision: E

47

1 Description
1.8.3. Velocity

1.8.3. Velocity
Maximum axis speed Robot Type
IRB 4600 - 60/2.05 IRB 4600 - 45/2.05 IRB 4600 - 45/2.55 IRB 4600 - 20/2.50

Axis 1
175 °/s 175 °/s 175 °/s 175 °/s

Axis 2
175 °/s 175 °/s 175 °/s 175 °/s

Axis 3
175 °/s 175 °/s 175 °/s 175 °/s

Axis 4
250 °/s 250 °/s 250 °/s 360 °/s

Axis 5
250 °/s 250 °/s 250 °/s 360 °/s

Axis 6
360 °/s 360 °/s 360 °/s 500 °/s

There is a supervision function to prevent overheating in applications with intensive and frequent movements. Axis Resolution 0.001° to 0.005°.

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3HAC032885-001 Revision: E

? Copyright 2008-2009 ABB. All rights reserved.

1 Description
1.8.4. Stopping distance/time

1.8.4. Stopping distance/time
Stopping distance/time for all IRB4600 variants Stopping distance/time for emergency stop (category 0), program stop (category 1) and at mains power supply failure at max speed, max stretched out and max load, categories according to EN 60204-1. All results are from tests on one moving axis. All stop distances are valid for floor mounted robot, without any tilting. Robot Type Axis
IRB 4600-60/ 2.05 1 2 3 IRB 4600-45/ 2.05 1 2 3 IRB 4600-40/ 2.55 1 2 3 IRB 4600-20/ 2.50 1 2 3

Category 0 A
56.6 30.3 24.8 55.7 29.3 20.7 64.8 30.5 26.6 49.6 27.1 19.7

Category A
83.7 50.6 43.4 82.6 49.0 39.8 110.0 55.0 59.8 76.5 46.8 38.3

Main power failure A
69.9 40.4 34.7 69.0 43.9 41.0 95.0 39.0 36.5 63.6 39.1 27.1

B
0.58 0.34 0.31 0.63 0.44 0.25 0.78 0.46 0.35 0.56 0.30 0.22

B
0.94 0.66 0.55 0.89 0.50 0.36 1.26 0.81 0.64 0.81 0.57 0.46

B
0.75 0.47 0.32 0.75 0.48 0.39 1.08 0.49 0.39 0.62 0.37 0.30

Description
A B Distance in degrees Stop time (s)

? Copyright 2008-2009 ABB. All rights reserved.

3HAC032885-001 Revision: E

49

1 Description
1.9.1. Introduction to Customer connections

1.9 Customer connections 1.9.1. Introduction to Customer connections
General Customer connections are options, the cables for them are integrated in the robot and the connectors are placed on the upper arm housing and at the base. One UT0W71210SH06 connector (R2. CP(/CBUS)) and one UT0W71626H06 connector (R2.CS(/CP)). Corresponding connectors, R1.CP(/CBUS) and R1.CS(/CP) are located at the base.Hose for compressed air is also integrated into the manipulator. There is an (M16-3/8” hose) inlet at the base and an outlet on the rear part of the upper arm.

(C) (A) (B)
xx0800000426

Pos
A B C

Connection
R2.CP R2.CS Air

Description
Customer power Customer signals max 8 bar

Number
4 1
a

Value
300 V, 2 A 50 V, 0.5 A Inner hose diameter 9.5 mm
? Copyright 2008-2009 ABB. All rights reserved.

23

Connectors when Multibus, Parallel communication, option 803-2 is chosen: Pos
A B C

Connection
R2.CBUS R2.CP/CS Air

Description
Multibus comm. Cust. power/signals max 8 bar

Number

Value
PROFINET, EtherNet/IP DeviceNet

3a/6 1

300 V, 2 A / 50 V, 0.5 A Inner hose diameter 9.5 mm

a. One protected ground included.

50

3HAC032885-001 Revision: E

2 Specification of Variants and Options
2.1.1. Introduction to Variants and Options

2 Specification of Variants and Options
2.1 Introduction 2.1.1. Introduction to Variants and Options
Introduction to Variants and Options The different variants and options for the IRB 4600 are described below.The same numbers are used here as in the Specification form. For controller, see Product specification Controller IRC5 with FlexPendant and for software options, see Product specification Controller software IRC5/RobotWare.

? Copyright 2008-2009 ABB. All rights reserved.

3HAC032885-001 Revision: E

51

2 Specification of Variants and Options
2.1.2. Manipulator

2.1.2. Manipulator
Variants Option
435-84 435-85 435-86 435-94

IRB Type
IRB 4600 IRB 4600 IRB 4600 IRB 4600

Handling capacity (kg) 7 Reach (m)
60/2.05 45/2.05 40/2.55 20/2.50

Manipulator color Option
209-1 209-2 209-4--192

Description
The robot is painted in color ABB Orange. The robot is painted in white color. The manipulator is painted with the chosen RAL-color.

Protection Option
287-4 287-3

Description
Standard The Foundry Plus option is designed for harsh environments where the robot is exposed to sprays of coolants, lubricants and metal spits that are typical for die casting applications or other similar applications. The Foundry Plus robot is painted with two-component epoxy on top of a special primer for excellent corrosion protection. To further improve the corrosion protection additional rust preventive are applied to exposed areas, e.g. has the tool flange a special preventive coating. The entire robot is IP67 compliant according to IEC 60529 - from base to wrist, which means that the electrical compartments are virtually sealed against liquid and solid contaminants. Among other things all sensitive parts are highly protected. Foundry Plus features: ? Improved sealing to prevent damp from penetrating into cavities ? Additional protection of cabling and electronics ? Special covers protecting cavities ? Special connectors The Foundry Plus robot can be cleaned with adequate washing equipment.

Mounting position Option
224-2

Description
Inverted mounting of the manipulator Not together with option 603-1, AbsAcc.

Continues on next page
52 3HAC032885-001 Revision: E

? Copyright 2008-2009 ABB. All rights reserved.

2 Specification of Variants and Options
2.1.2. Manipulator Continued NOTE! Manipulators delivered for floor mounting must have the option added before changing mounting position to inverted. Media & Communication Air supply and signals for extra equipment upper arm, see 1.9 Customer connections. Option
803-1 803-2 803-3

Type
Parallel and pair communication Ethernet, parallel and air communication

Description
Includes customer power CP and customer signals CS + air. Includes CP, CS and PROFINET or Ethernet/IP + air.

DeviceNet, parallel and Includes CP, CS and Devicenet + air air communication

Connector kit The kit consists of connectors, pins and sockets Option
431-1 239-1

Description
For the connectors on the upper arm. For the connectors on the foot if connection to manipulator.

Safety lamp Option
231-1

Description
Safety lamp safety lamp with an orange fixed light can be mounted on the manipulator.The lamp is active in MOTORS ON mode.The safety lamp is required on a UL/UR approved robot.

? Copyright 2008-2009 ABB. All rights reserved.

xx0800000427

Continues on next page
3HAC032885-001 Revision: E 53

2 Specification of Variants and Options
2.1.2. Manipulator Continued Cooling fans for axis 1 and 2 motor To be used to avoid overheating of motors and gears in application with intensive motion (high average speed and/or high average torque and/or short wait time) of axis 1 and axis 2. IP54 valid for cooling fan. Option
87-1 88-1

Description
Cooling fan for axis 1 motor. Cooling fan for axis 2 motor.

Resolver connection, axis 7 A connector for resolver signals for axis 7 located on the base Option
864-1

Description
On base

Remark
Needed for Connection box (BRB), option 1018-1 to -3, on Specification Form for Motor Units. Used together with first additional drive option 770-4.

Electronical Position Switches (EPS) The mechanical position switches indicating the position of the three main axes are replaced with electronic position switches for up to 7 axes, for increased flexibility and robustness.For more detailed information, see Product specification - Controller IRC5 with FlexPendant and Application Manual Electronic Position Switches, art. No. 3HAC0277709-001. Working range limit-Axis 1 The working range of axis 1 can be limited between ± 129o to ± 16.5o in steps of 22.5o Option
28-1 Axis 1

Description
Two stops for restricting the working range.The stops can be mounted according to example in.
? Copyright 2008-2009 ABB. All rights reserved.

Continues on next page
54 3HAC032885-001 Revision: E

2 Specification of Variants and Options
2.1.2. Manipulator Continued

A

B C

xx0800000410

Pos
A B C

Description
Movable mechanical stop, limited to - 129o Movable mechanical stop, limited to + 16.5o Movable mechanical stop, limited to - 16.5o

Warranty Option
438-1 438-2 438-4
? Copyright 2008-2009 ABB. All rights reserved.

Type
Standard Warranty Standard + 12 months Standard + 18 months Standard + 24 months Standard + 6 months Stock Warranty

Description
Standard warranty is 18 months (1 1/2 years) 18 + 12 months (2 1/2 years) 18 + 18 months (3 years) 18 + 24 months (3 1/2 years) 18 + 6 months (2 years) Maximum 6 months postponed warranty starting from shipment date ABB Robotics Production unit (PRU) + Option 438-1. Warranty commences automatically after 6 months or from activation date of standard warranty. (See ABB Robotics BA Warranty Rules).

438-5 438-6 438-8

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55

2 Specification of Variants and Options
2.1.3. Floor cables

2.1.3. Floor cables
Manipulator cable length Option
210-2 210-3 210-4 210-5

Lengths
7m 15 m 22 m 30 m

Application interface Connection to Option
16-1

Name
Cabinet

Description
The signals are connected to 12-pole screw terminals, Phoenix MSTB 2.5/12-ST-5.08, to the Control Module.

Connection of Parallel/CAN DeviceNet communication Following information specifies the cable length for Parallel/CAN DeviceNet/Ether-net floor cables for connections between cabinets and manipulator. Option
94-1/90-2 94-2/90-3/859-2 94-3/90-4 94-4/90-5/859-4

Lengths
7m 15 m 22 m 30 m

56

3HAC032885-001 Revision: E

? Copyright 2008-2009 ABB. All rights reserved.

3 Accessories
3.1.1. Introduction to Accessories

3 Accessories
3.1 Introduction 3.1.1. Introduction to Accessories
General There is a range of tools and equipment available, see IRB1600. Basic software and software options for robot and PC For more information, see Product specification - Controller IRC5 with FlexPendant and Product specification - Controller software IRC5/RobotWare Robot Peripherals ? ? Track Motion Motor Units

? Copyright 2008-2009 ABB. All rights reserved.

3HAC032885-001 Revision: E

57

Index

A
absolute accuracy 24 accessories 57 airborn noise level 9 attachment bolts 21

safety lamp 53 standards 13 stopping distance/time 49

T
the active brake system (ABS) 14 the electronically stabilised path (ESP) 15 the internal safety concept 16 the passive safety system 15 the self tuning performance (STP) 15 the service information system (SIS) 14 Tool flange 43 troubleshooting 44

C
calibration 23 connector kit 53 customer connections 50

D
delayed safeguarded space stop 16 dimensions 11

V
variants 52 velocity 48

E
electronical position switches 54 emergency stop 16

W
working range 46 wrist torque 36

F
fastening holes 21 fire safety 16 floor cables 56 foundry plus 7

H
handling capacity 9 hold-to-run control 16

I
installation 18

L
load diagrams 26

M
maintenance 44 manipulator color 52 manipulator weight 9 media & communication 53 moment of inertia 34 mounting equipment 37 mounting position 52

? Copyright 2008-2009 ABB. All rights reserved.

O
options 51

P
performance 47 power consumption 9 protection 52 protection standards 19

R
range of movement 45 reach 9 robot load 26 robot motion 45

S
safeguarded space stop 16 safety category 3 16

3HAC032885-001 Revision: E

59

60

Index

3HAC032885-001 Revision: E

? Copyright 2008-2009 ABB. All rights reserved.

ABB AB Robotics Products S-721 68 V?STER?S SWEDEN Telephone: +46 (0) 21 344000 Telefax: +46 (0) 21 132592

3HAC 032885-001, Revision E, en


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