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Product Specification IRB 2400 3HAC 5672-1 M98A / BW OS 3.2 / Rev. 1 The information in this document is subject to change without notice and should not be construed as a commitment by ABB Robotics Products AB. ABB Robotics Products AB assumes no responsibility for any errors that may appear in this document. In no event shall ABB Robotics Products AB be liable for incidental or consequential damages arising from use of this document or of the software and hardware described in this document. This document and parts thereof must not be reproduced or copied without ABB Robotics Products AB´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 document may be obtained from ABB Robotics Products AB at its then current charge. © ABB Robotics Products AB Article number: 3HAC 7677-1 Issue: M2000/Rev.1 ABB Robotics Products AB S-721 68 Västerås Sweden Product Specification IRB 2400 CONTENTS Page 1 Introduction ..................................................................................................................... 3 2 Description ....................................................................................................................... 5 2.1 Structure.................................................................................................................. 5 2.2 Safety/Standards ..................................................................................................... 6 2.3 Operation ................................................................................................................ 7 2.4 Installation .............................................................................................................. 9 2.5 Programming .......................................................................................................... 9 2.6 Automatic Operation .............................................................................................. 11 2.7 Maintenance and Troubleshooting ......................................................................... 12 2.8 Robot Motion.......................................................................................................... 13 2.9 External Axes ......................................................................................................... 16 2.10 Inputs and Outputs................................................................................................ 16 2.11 Communication..................................................................................................... 17 3 Technical specification .................................................................................................... 19 3.1 Structure.................................................................................................................. 19 3.2 Safety/Standards ..................................................................................................... 22 3.3 Operation ................................................................................................................ 23 3.4 Installation .............................................................................................................. 24 3.5 Programming .......................................................................................................... 33 3.6 Automatic Operation .............................................................................................. 37 3.7 Maintenance and Troubleshooting ......................................................................... 37 3.8 Robot Motion.......................................................................................................... 38 3.9 External Axes ......................................................................................................... 41 3.10 Inputs and Outputs................................................................................................ 42 3.11 Communication..................................................................................................... 46 4 Specification of Variants and Options........................................................................... 47 5 Accessories ....................................................................................................................... 65 6 Index ................................................................................................................................. 67 Product Specification IRB 2400 M98A/BaseWare OS 3.2 1 Product Specification IRB 2400 2 Product Specification IRB 2400 M98A/BaseWare OS 3.2 Introduction 1 Introduction Thank you for your interest in the IRB 2400. This manual will give you an overview of the characteristics and performance of the robot. IRB 2400 is a 6-axis industrial robot, designed specifically for manufacturing industries that use flexible robot-based automation. The robot has an open structure that is specially adapted for flexible use, and can communicate extensively with external systems. The robot is equipped with an operating system called BaseWare OS. BaseWare OS controls every aspect of the robot, like motion control, development and execution of application programs communication etc. The functions in this document are all included in BaseWare OS, if not otherwise specified. For additional functionality, the robot can be equipped with optional software for application support - gluing, arc welding for example, communication features - network communication - and advanced functions such as multitasking, sensor control etc. For complete information on optional software, see the Product Specification RobotWare. All the features are not described in this document. For a more complete and detailed description, please see the User’s Guide, RAPID Reference Manual and Product Manual, or contact your nearest ABB Flexible Automation Centre. Different robot versions The IRB 2400 is available in different versions depending on its handling capacity and environment protection. The following robot versions are available, floor mounting or inverted: Robot Versions IRB 2400L IRB 2400FL IRB 2400/10 IRB 2400F/10 IRB 2400/16 IRB 2400F/16 Definition of version designation IRB 2400 Application / Reach - Handling capacity Prefix Description Version L Long arm Application F Manipulator adapted for use in harsh environments (e.g. foundry) Handling capacity yy Indicates the maximum handling capacity (kg) Product Specification IRB 2400 M98A/BaseWare OS 3.2 3 Introduction How to use this manual The characteristics of the robot are described in Chapter 2: Description. The most important technical data is listed in Chapter 3: Technical specification. Note that the sections in chapter 2 and 3 are related to each other. For example, in section 2.2 you can find an overview of safety and standards, in section 3.2 you can find more detailed information. To make sure that you have ordered a robot with the correct functionality, see Chapter 4: Specification of Variants and Options. In Chapter 5 you will find accessories for the robot. Chapter 6 contains an Index, to make things easier to find. Other manuals The User’s Guide is a reference manual with step by step instructions on how to perform various tasks. The programming language is described in the RAPID Reference Manual. The Product Manual describes how to install the robot, as well as maintenance procedures and troubleshooting. The Product Specification RobotWare describes the software options. 4 Product Specification IRB 2400 M98A/BaseWare OS 3.2 Description 2 Description 2.1 Structure The robot is made up of two main parts: a manipulator and a controller. Axis 4 Axis 5 Axis 6 Axis 3 Axis 2 Axis 1 Figure 1 The IRB 2400 manipulator has 6 axes. Teach pendant Mains switch Operator´s panel Disk drive Figure 2 The controller is specifically designed to control robots, which means that optimal performance and functionality is achieved. The controller contains the electronics required to control the manipulator, external axes and peripheral equipment. Product Specification IRB 2400 M98A/BaseWare OS 3.2 5 Description 2.2 Safety/Standards The robot complies fully with the health and safety standards specified in the EEC’s Machinery Directives as well as ANSI/RIA 15.06-1992. The robot is designed with absolute safety in mind. It has a dedicated safety system based on a two-channel circuit which is monitored continuously. If any component fails, the electrical power supplied to the motors shuts off and the brakes engage. Safety category 3 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. Selecting the operating mode The robot can be operated either manually or automatically. In manual mode, the robot can only be operated via the teach pendant, i.e. not by any external equipment. Reduced speed 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 Centre Point), but to all parts of the robot. It is also possible to monitor the speed of equipment mounted on the robot. Three position enabling device The enabling device on the teach pendant 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. Safe manual movement The robot is moved using a joystick instead of the operator having to look at the teach pendant to find the right key. Over-speed protection The speed of the robot is monitored by two independent computers. Emergency stop There is one emergency stop push button on the controller and another on the teach pendant. Additional emergency stop buttons can be connected to the robot’s safety chain circuit. Safeguarded space stop 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. Delayed safeguarded space stop A delayed stop gives a smooth stop. The robot stops in the same way as at normal program stop with no deviation from the programmed path. After approx. one second the power supplied to the motors shuts off. 6 Product Specification IRB 2400 M98A/BaseWare OS 3.2 Description Restricting the working space The movement of each of the axes can be restricted using software limits. Axes 1 and 2 can also be restricted by means of an adjustable mechanical stop. Axis 3 can be restricted using an electrical limit switch. Hold-to-run control “Hold-to-run” means that you must depress the start button in order to move the robot. When the key is released the robot will stop. The hold-to-run function makes program testing safer. Fire safety Both the manipulator and control system comply with UL’s (Underwriters Laboratory) tough requirements for fire safety. Safety lamp As an option, the robot can be equipped with a safety lamp. This is activated when the motors are in the MOTORS ON state. 2.3 Operation All operations and programming can be carried out using the portable teach pendant (see Figure 3) and the operator’s panel (see Figure 5). Display 1 2 P1 7 8 9 4 5 6 1 2 3 Joystick 0 P2 P3 Emergency stop button Figure 3 The teach pendant is equipped with a large display, which displays prompts, information, error messages and other information in plain English. Information is presented on a display using windows, pull-down menus, dialogs and function keys. No previous programming or computer experience is required to learn how to operate the robot. All operation can be carried out from the teach pendant, which means that a specific keyboard is not required. All information, including the complete programming language, is in English or, if preferred, some other major language. Product Specification IRB 2400 M98A/BaseWare OS 3.2 7 Description Menu keys File Edit View 1 Goto ... Inputs/Outputs 2 Goto Top 3 Goto Bottom Name Value di1 di2 grip1 grip2 clamp3B feeder progno welderror I/O list 1 Menu 4(64) 1 0 1 0 1 1 13 0 Line indicator Cursor 0 Function keys Figure 4 Window for manual operation of input and output signals. Using the joystick, the robot can be manually jogged (moved). The user determines the speed of this movement; large deflections of the joystick will move the robot quickly, smaller deflections will move it more slowly. The robot supports different user levels, with dedicated windows for: - Production - Programming - System setup - Service and installation Operator’s panel Motors On button Operating mode selector and indicating lamp Emergency stop Duty time counter Figure 5 The operating mode is selected using the operator’s panel on the controller. 8 Product Specification IRB 2400 M98A/BaseWare OS 3.2 Description Using a key switch, the robot can be locked in two or three different operating modes: 100% • Automatic mode: Running production • Manual mode at reduced speed: Programming and setup Max. speed: 250 mm/s (600 inches/min.) Manual mode at full speed (option): Equipped with this mode, the robot is not approved according to ANSI/UL Testing at full program speed Both the operator’s panel and the teach pendant can be mounted externally, i.e. outside the cabinet. The robot can then be controlled from there. The robot can be remotely controlled from a computer, PLC or from a customer’s panel, using serial communication or digital system signals. For more information on how to operate the robot, see the User’s Guide. 2.4 Installation The robot has a standard configuration and can be operated immediately after installation. Its configuration is displayed in plain language and can easily be changed using the teach pendant. The configuration can be stored on a diskette and/or transferred to other robots that have the same characteristics. The same version of the robot can either be mounted on the floor or inverted. An end effector, max. weight 7, 10 or 16 kg including payload, can be mounted on the robot’s mounting flange (axis 6) depending on the robot version. Other equipment can be mounted on the upper arm, max. weight 11 or 12 kg, and on the base, max. weight 35 kg. 2.5 Programming Programming the robot involves choosing instructions and arguments from lists of appropriate alternatives. Users do not need to remember the format of instructions, since they are prompted in plain English. “See and pick” is used instead of “remember and type”. The programming environment can be easily customised using the teach pendant. - Shop floor language can be used to name programs, signals, counters, etc. - New instructions can be easily written. - The most common instructions can be collected in easy-to-use pick lists. - Positions, registers, tool data, or other data, can be created. Programs, parts of programs and any modifications can be tested immediately without having to translate the program. The program is stored as a normal PC text file, which means that it can be edited using a standard PC. Product Specification IRB 2400 M98A/BaseWare OS 3.2 9 Description Movements A sequence of movements is programmed as a number of partial movements between the positions to which you want the robot to move. The positions of a motion instruction are selected either by manually jogging the robot to the desired position with the joystick, or by referring to a previously defined position. The exact position can be defined (see Figure 6) as: - a stop point, i.e. the robot reaches the programmed position; or - a fly-by point, i.e. the robot passes close to the programmed position. The size of the deviation is defined independently for the TCP, the tool orientation and the external axes. Stop point Fly-by point User-definable distance (in mm) Figure 6 The fly-by point reduces the cycle time since the robot does not have to stop at the programmed point.The path is speed independent. The velocity may be specified in the following units: - mm/s - seconds (time it takes to reach the next programmed position) - degrees/s (for reorientation of the tool or for a rotation of an external axis) Program management For convenience, the programs can be named and stored in different directories. Areas of the robot’s program memory can also be used for program storage. This gives a very fast memory where you can store programs. These can then be automatically downloaded using an instruction in the program. The complete program or parts of programs can be transferred to/from a diskette. Programs can be printed on a printer connected to the robot, or transferred to a PC where they can be edited or printed. Editing programs Programs can be edited using standard editing commands, i.e. “cut-and-paste”, copy, delete, find and change, etc. Individual arguments in an instruction can also be edited using these commands. No reprogramming is necessary when processing left-hand and right-hand parts, since the program can be mirrored in any plane. 10 Product Specification IRB 2400 M98A/BaseWare OS 3.2 Description A robot position can easily be changed either by: - jogging the robot with the joystick to a new position and then pressing the “ModPos” key (this registers the new position) or by - entering or modifying numeric values. To prevent unauthorised personnel making program changes, passwords can be used. Testing programs Several helpful functions can be used when testing programs. For example, it is possible to - start from any instruction - execute an incomplete program - run one cycle - execute forward/backward step-by-step - simulate wait conditions - temporarily reduce the speed - change a position - tune (displace) a position during program execution. For more information, see the User´s Guide and RAPID Reference Manual. 2.6 Automatic Operation A dedicated production window with commands and information required by the operator is automatically displayed during automatic operation. The operation procedure can be customised to suit the robot installation by means of user-defined operating dialogs. Select program to run: Front A Front B Front C Other SERVICE Figure 7 The operator dialogs can be easily customised. Product Specification IRB 2400 M98A/BaseWare OS 3.2 11 Description A special input can be set to order the robot to go to a service position. After service, the robot is ordered to return to the programmed path and continue program execution. You can also create special routines that will be automatically executed when the power is switched on, at program start and on other occasions. This allows you to customise each installation and to make sure that the robot is started up in a controlled way. The robot is equipped with absolute measurement, making it possible to operate the robot directly from when the power is switched on. For your convenience, the robot saves the used path, program data and configuration parameters so that the program can easily be restarted from where you left off. Digital outputs are also set automatically to the value before the power failure. 2.7 Maintenance and Troubleshooting The robot requires only a minimum of 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. - The controller is enclosed, which means that the electronic circuitry is protected when operating in a normal workshop environment. - It has a program memory “battery low” alarm. The robot has several functions to provide efficient diagnostics and error reports: - It performs a self-test when power on is set. - Errors are indicated by a message displayed in plain language. The message includes the reason for the fault and suggests recovery action. - A board error is indicated by an LED on the faulty unit. - Faults and major events are logged and time-stamped. This makes it possible to detect error chains and provides the background for any downtime. The log can be read on the display of the teach pendant, stored in a file and also printed on a printer. - There are commands and service programs in RAPID to test units and functions. Most errors detected by the user program can also be reported to and handled by the standard error system. Error messages and recovery procedures are displayed in plain language. 12 Product Specification IRB 2400 M98A/BaseWare OS 3.2 Description 2.8 Robot Motion IRB 2400L 3421 1702 5 R= 21 2885 560 100 1810 IRB 2400/10 IRB 2400/16 2900 1441 4 R= 48 2458 393 100 1550 Figure 8 Working space of IRB 2400 (dimensions in mm). Product Specification IRB 2400 M98A/BaseWare OS 3.2 13 Description Motion performance The QuickMoveTM concept means that a self-optimizing motion control is used. The robot automatically optimizes the servo parameters to achieve the best possible performance throughout the cycle - based on load properties, location in working area, velocity and direction of movement. - No parameters have to be adjusted to achieve correct path, orientation and velocity. - Maximum acceleration is always obtained (acceleration can be reduced, e.g. when handling fragile parts). - The number of adjustments that have to be made to achieve the shortest possible cycle time is minimized. The TrueMoveTM concept means that the programmed path is followed – regardless of the speed or operating mode – even after an emergency stop, a safeguarded stop, a process stop, a program stop or a power failure. The robot can, in a controlled way, pass through singular points, i.e. points where two axes coincide. Coordinate systems Tool Centre Point (TCP) Y Tool coordinates Z Z X Y Base coordinates Z X Z User coordinates Z Object coordinates Y Y X Y World coordinates X X Figure 9 The coordinate systems, used to make jogging and off-line programming easier. The world coordinate system defines a reference to the floor, which is the starting point for the other coordinate systems. Using this coordinate system, it is possible to relate the robot position to a fixed point in the workshop. The world coordinate system is also very useful when two robots work together or when using a robot carrier. 14 Product Specification IRB 2400 M98A/BaseWare OS 3.2 Description The base coordinate system is attached to the base mounting surface of the robot. The tool coordinate system specifies the tool’s centre point and orientation. The user coordinate system specifies the position of a fixture or workpiece manipulator. The object coordinate system specifies how a workpiece is positioned in a fixture or workpiece manipulator. The coordinate systems can be programmed by specifying numeric values or jogging the robot through a number of positions (the tool does not have to be removed). Each position is specified in object coordinates with respect to the tool’s position and orientation. This means that even if a tool is changed because it is damaged, the old program can still be used, unchanged, by making a new definition of the tool. If a fixture or workpiece is moved, only the user or object coordinate system has to be redefined. Stationary TCP When the robot is holding a work object and working on a stationary tool, it is possible to define a TCP for that tool. When that tool is active, the programmed path and speed are related to the work object. Program execution The robot can move in any of the following ways: - Joint motion (all axes move individually and reach the programmed position at the same time) - Linear motion (the TCP moves in a linear path) - Circle motion (the TCP moves in a circular path) Soft servo - allowing external forces to cause deviation from programmed position can be used as an alternative to mechanical compliance in grippers, where imperfection in processed objects can occur. If the location of a workpiece varies from time to time, the robot can find its position by means of a digital sensor. The robot program can then be modified in order to adjust the motion to the location of the part. Product Specification IRB 2400 M98A/BaseWare OS 3.2 15 Description Jogging The robot can be manually operated in any one of the following ways: - Axis-by-axis, i.e. one axis at a time - Linearly, i.e. the TCP moves in a linear path (relative to one of the coordinate systems mentioned above) - Reoriented around the TCP It is possible to select the step size for incremental jogging. Incremental jogging can be used to position the robot with high precision, since the robot moves a short distance each time the joystick is moved. During manual operation, the current position of the robot and the external axes can be displayed on the teach pendant. 2.9 External Axes The robot can control up to six external axes. These axes are programmed and moved using the teach pendant in the same way as the robot’s axes. The external axes can be grouped into mechanical units to facilitate, for example, the handling of robot carriers, workpiece manipulators, etc. The robot motion can be simultaneously coordinated with a one-axis linear robot carrier and a rotational external axis. A mechanical unit can be activated or deactivated to make it safe when, for example, manually changing a workpiece located on the unit. In order to reduce investment costs, any axes that do not have to be active at the same time can use the same drive unit. Programs can be reused in other mechanical units of the same type. 2.10 Inputs and Outputs A distributed I/O system is used, which makes it possible to mount the I/O units either inside the cabinet or outside the cabinet with a cable connecting the I/O unit to the cabinet. A number of different input and output units can be installed: - Digital inputs and outputs - Analog inputs and outputs - Remote I/O for Allen-Bradley PLC - InterBus-S Slave - Profibus DP Slave 16 Product Specification IRB 2400 M98A/BaseWare OS 3.2 Description The inputs and outputs can be configured to suit your installation: - Each signal and board can be given a name, e.g. gripper, feeder - I/O mapping (i.e. a physical connection for each signal) - Polarity (active high or low) - Cross connections - Up to 16 digital signals can be grouped together and used as if they were a single signal when, for example, entering a bar code Signals can be assigned to special system functions, such as program start, so as to be able to control the robot from an external panel or PLC. The robot can work as a PLC by monitoring and controlling I/O signals: - I/O instructions can be executed concurrent with the robot motion. - Inputs can be connected to trap routines. (When such an input is set, the trap routine starts executing. Following this, normal program execution resumes. In most cases, this will not have any visible effect on the robot motion, i.e. if a limited number of instructions are executed in the trap routine.) - Background programs (for monitoring signals, for example) can be run in parallel with the actual robot program. Requires option Multitasking, see Product Specification RobotWare. Manual commands are available to: - List all the signal values - Create your own list of your most important signals - Manually change the status of an output signal - Print signal information on a printer Signal connections consist of either connectors or screw terminals, which are located in the controller. I/O signals can also be routed to connectors on the upper arm of the robot. 2.11 Communication The robot can communicate with computers or other equipment via RS232/RS422 serial channels or via Ethernet. However this requires optional software, see the Product Specification RobotWare. Product Specification IRB 2400 M98A/BaseWare OS 3.2 17 Description 18 Product Specification IRB 2400 M98A/BaseWare OS 3.2 Technical specification 3 Technical specification Applies to standard and Foundry versions unless otherwise stated. 3.1 Structure Weight: Manipulator Controller 380 kg 240 kg Volume: Controller 950 x 800 x 540 mm Airborne noise level: The sound pressure level outside the working space < 70 dB (A) Leq (acc. to Machinery directive 89/392 EEC) 50 800 540 Cabinet extension Option 115 800 Extended cover 500 Option 114 250 200 950 980 * Lifting points for forklift * Castor wheels 500 Figure 10 View of the controller from the front and from above (dimensions in mm). Product Specification IRB 2400 M98A/BaseWare OS 3.2 19 Technical specification IRB 2400L 1225 870 290 65 260 360 150 855 251 138 176 268 1730 615 446 454 180 CL 100 600 305 723 R=76 R=448 444 R=347 A 123 389 A-A A R=330 Figure 11 View of the manipulator from the side, rear and above (dimensions in mm). 20 Product Specification IRB 2400 M98A/BaseWare OS 3.2 Technical specification IRB 2400/10 IRB 2400/16 1065 306 755 180 85 133 135 251 138 176 268 705 1564 615 454 446 180 100 CL 600 305 723 R=98 R=448 A-A R=347 444 A 78 85 (163) A 389 R=330 Figure 12 View of the manipulator from the side, rear and above (dimensions in mm). Product Specification IRB 2400 M98A/BaseWare OS 3.2 21 Technical specification 3.2 Safety/Standards The robot conforms to the following standards: EN 292-1 Safety of machinery, terminology EN 292-2 Safety of machinery, technical specifications EN 954-1 Safety of machinery, safety related parts of control systems 1 EN 60204 Electrical equipment of industrial machines IEC 204-1 Electrical equipment of industrial machines ISO 10218, EN 775 Manipulating industrial robots, safety ANSI/RIA 15.06/1992 Industrial robots, safety requirements ISO 9787 Manipulating industrial robots, coordinate systems and motions IEC 529 Degrees of protection provided by enclosures EN 50081-2 EMC, Generic emission EN 50082-2 EMC, Generic immunity ISO 9409-1 Manipulating industrial robots, mechanical interfaces ANSI/UL 1740-1996 (option) Safety Standard for Industrial Robots and Robotic Equipment CAN/CSA Z 434-94 (option) Industrial Robots and Robot Systems - General Safety Requirements Safeguarded space stops via inputs External safety equipment can be connected to the robot’s two-channel emergency stop chain in several different ways (see Figure 13). Operating mode selector Auto mode safeguarded space stop General mode safeguarded space stop External emergency stop Emergency stop 250 mm/s 100% Teach pendant Enabling device M ~ Note. Manual mode 100% is an option Figure 13 All safeguarded space stops force the robot’s motors to the MOTORS OFF state. A time delay can be connected to any safeguarded space stop. 1. There is a deviation from the extra demand for only electromechanical components on emergency stop of category 0 in paragraph 9.2.5.4. EN 60204-1 accepts one channel circuit without monitoring, instead the design is made to comply with category 3 according to EN 954-1, where the demand for redundancy is founded. 22 Product Specification IRB 2400 M98A/BaseWare OS 3.2 Technical specification 3.3 Operation Hold-to-run Motion keys Menu keys P5 Window keys 7 4 1 1 2 Display P1 8 5 2 0 9 6 3 P4 Joystick Enabling device P2 P3 Function keys Navigation keys Figure 14 The teach pendant is very easy to use since any functions provided via the function and menu keys are described in plain language. The remaining keys can perform only one function each. Display 16 text lines with 40 characters per line. Motion keys Select the type of movement for robot or external axis when jogging: linear movement, reorientation or axis-by-axis movement. Navigation keys Move the cursor and enter data. Menu keys Display pull-down menus. Function keys Select the commands used most often. Window keys Display one of the robot’s various windows. These windows control a number of different functions: - Jogging (manual operation) - Programming, editing and testing a program - Manual input/output management - File management - System configuration - Service and troubleshooting - Automatic operation Product Specification IRB 2400 M98A/BaseWare OS 3.2 23 Technical specification User-defined keys Five user-defined keys that can be configured to set or reset an output (e.g. open/close gripper) or to activate a system input (see chapter 3.10). 3.4 Installation Operating requirements Protection standards IEC529 Normal Manipulator Wrist Controller IP54 IP54 IP54 IRB 2400F Manipulator Wrist Controller IP55 IP67 IP54 Explosive environments The robot must not be located or operated in an explosive environment. Ambient temperature Manipulator during operation Controller during operation Complete robot during transportation and storage, for short periods (not exceeding 24 hours) +5oC (41oF) to +45oC (113oF) +5oC (41oF) to +52oC (125oF) -25oC (13oF) to +55oC (131oF) up to +70oC (158oF) Relative humidity Complete robot during transportation and storage Max. 95% at constant temperature Complete robot during operation Max. 95% at constant temperature Power supply Mains voltage 200-600V, 3p (3p + N for certain options), +10%,-15% Mains frequency 48.5 to 61.8 Hz Rated power (transformer size): 4.5-14.4 kVA Absolute measurement backup 1000 h (rechargeable battery) Configuration The robot is very flexible and can, by using the teach pendant, easily be configured to suit the needs of each user: Authorisation Most common I/O Instruction pick list Instruction builder Operator dialogs Language 24 Password protection for configuration and program window User-defined lists of I/O signals User-defined set of instructions User-defined instructions Customised operator dialogs All text on the teach pendant can be displayed in several languages Product Specification IRB 2400 M98A/BaseWare OS 3.2 Technical specification Date and time Power on sequence EM stop sequence Main start sequence Program start sequence Program stop sequence Change program sequence Working space External axes Brake delay time I/O signal Serial communication Calendar support Action taken when the power is switched on Action taken at an emergency stop Action taken when the program is starting from the beginning Action taken at program start Action taken at program stop Action taken when a new program is loaded Working space limitations Number, type, common drive unit, mechanical units Time before brakes are engaged Logical names of boards and signals, I/O mapping, cross connections, polarity, scaling, default value at start up, interrupts, group I/O Configuration For a detailed description of the installation procedure, see the Product Manual Installation and Commissioning. Mounting the manipulator Maximum load in relation to the base coordinate system. IRB 2400L Endurance load in operation Max. load at emergency stop Force xy ±1700 N Force z floor mounting +4100 ±1100 N Force z inverted mounting -4100 ±1100 N ±2100 N +4100 ±1400 N -4100 ±1400 N Torque xy Torque z IRB 2400/10 IRB 2400/16 ±3000 Nm ±450 Nm ±3400 Nm ±900 Nm Force xy ±2000 N Force z floor mounting +4100 ±1400 N Force z inverted mounting -4100 ±1400 N ±2600 N +4100 ±1900 N -4100 ±1900 N Torque xy Torque z ±3400 Nm ±550 Nm ±4000 Nm ±900 Nm X B 48 Z = centre line axis 1 280 B D=18,5 Y A B-B 210 Z 0.5 D=18,5 (2x) A The same dimensions 48 20 260 260 D=35 0.25 View from the bottom of the base +0.039 -0 H8 (2x) A-A Figure 15 Hole configuration (dimensions in mm). Product Specification IRB 2400 M98A/BaseWare OS 3.2 25 Technical specification Load diagrams IRB 2400L Nominal performance Z (mm) 600 500 1 kg 400 1.5 kg 300 2 kg 200 3 kg 100 4 kg 5 kg L (mm) 65 100 200 300 400 Z = see the above diagram and the coordinate system in Figure 9 L = distance in X-Y plane from Z-axis to the centre of gravity J = maximum own moment of inertia on the total handling weight = ≤ 0.012 kgm2 Figure 16 Maximum weight permitted for load mounting on the mounting flange at different positions (centre of gravity). 26 Product Specification IRB 2400 M98A/BaseWare OS 3.2 Technical specification IRB 2400L Reduced performance Z (mm) 600 1 kg 500 400 1.5 kg 2 kg 300 3 kg 200 4 kg 100 5 kg 6 kg 7 kg L (mm) 65 100 200 300 400 Z = see the above diagram and the coordinate system in Figure 9 L = distance in X-Y plane from Z-axis to the centre of gravity J = maximum own moment of inertia on the total handling weight = ≤ 0.012 kgm2 Figure 17 Maximum weight permitted for load mounting on the mounting flange at different positions (centre of gravity). Product Specification IRB 2400 M98A/BaseWare OS 3.2 27 Technical specification IRB 2400/10 Z (mm) 200 6 kg 150 8 kg 100 10 kg 12 kg 50 L (mm) 100 150 200 85 Z = see the above diagram and the coordinate system in Figure 9 L = distance in X-Y plane from Z-axis to the centre of gravity J = maximum own moment of inertia on the total handling weight = ≤ 0.040 kgm2 Figure 18 Maximum weight permitted for load mounting on the mounting flange at different positions (centre of gravity). 28 Product Specification IRB 2400 M98A/BaseWare OS 3.2 Technical specification IRB 2400/16 Z (mm) 200 10 kg 150 12 kg 100 14 kg 16 kg 50 L (mm) 100 150 200 85 Z = see the above diagram and the coordinate system in Figure 9 L = distance in X-Y plane from Z-axis to the centre of gravity J = maximum own moment of inertia on the total handling weight = ≤ 0.060 kgm2 Figure 19 Maximum weight permitted for load mounting on the mounting flange at different positions (centre of gravity). Product Specification IRB 2400 M98A/BaseWare OS 3.2 29 Technical specification Mounting equipment The robot is supplied with tapped holes on the upper arm and on the base for mounting extra equipment. 300 IRB 2400L A A 400 Max. 10kg M8 (2x) Depth 14 M5 (2x) Depth 9 D D 135 150 Max. 1kg 37 67 30 37 D=200 170 62 70 (2x) 470 400 D-D A-A CL M8 (3x) R=77 Depth 16 C 120o (3x) B 150 D=50 M8 (3x) R=92 Depth 16 38o B 120o (3x) C C-C Max. 35 kg total 38o B-B Figure 20 The shaded area indicates the permitted positions (centre of gravity) for any extra equipment mounted in the holes (dimensions in mm). 30 Product Specification IRB 2400 M98A/BaseWare OS 3.2 Technical specification IRB 2400/10 IRB 2400/16 A 300 A M6 (2x) 35 70 400 25 110 M8 (3x) Depth of thread 14 65 450 300 M5 (2x) 177 100 D=240 22 90 78 43 200 Max. 2kg A-A Max. 10kg M8 (3x) R=77 Depth 16 C 120o (3x) 150 B D=50 M8 (3x) R=92 Depth 16 38o 120o (3x) B C C-C Max. 35 kg total 38o B-B Figure 21 The shaded area indicates the permitted positions (centre of gravity) for any extra equipment mounted in the holes (dimensions in mm). Product Specification IRB 2400 M98A/BaseWare OS 3.2 31 Technical specification IRB 2400L A o 45 D=6 +0.012 -0 H7 ∅ 0.05 B 9 B A h8 +0 -0.039 D=25 -0 R=20 D=50 +0.027 H8 M6 (4x) 90o (4x) 6 A-A IRB 2400/10 IRB 2400/16 A +0.012 D=6 -0 H7, depth min 8 0.05 B o 30 B 10 R=25 +0 D=63 -0.046 h8 D=31,5 +0.039 H8 -0 60 o 5x M6 (6x) A 7 A-A Figure 22 The mechanical interface, mounting flange (dimensions in mm). 32 Product Specification IRB 2400 M98A/BaseWare OS 3.2 Technical specification 3.5 Programming The programming language - RAPID - is a high-level application-oriented programming language and includes the following functionality: - hierarchial and modular structure - functions and procedures - global or local data and routines. - data typing, including structured and array types - user defined names on variables, routines, inputs/outputs etc. - extensive program flow control - arithmetic and logical expressions - interrupt handling - error handling - user defined instructions - backward execution handler The available sets of instructions/functions are given below. A subset of instructions to suit the needs of a particular installation, or the experience of the programmer, can be installed in pick lists. New instructions can easily be made by defining macros consisting of a sequence of standard instructions. Note that the lists below only cover BaseWare OS. For instructions and functions associated with optional software, see Product Specification RobotWare. Miscellaneous := WaitTime WaitUntil comment OpMode RunMode Dim Present Load UnLoad Assigns a value Waits a given amount of time Waits until a condition is met Inserts comments into the program Reads the current operating mode Reads the current program execution mode Gets the size of an array Tests if an optional parameter is used Loads a program module during execution Deletes a program module during execution To control the program flow ProcCall Calls a new procedure CallByVar Calls a procedure by a variable RETURN Finishes execution of a routine FOR Repeats a given number of times GOTO Goes to (jumps to) a new instruction Compact IF If a condition is met, then execute one instruction IF If a condition is met, then execute a sequence of instructions label Line name (used together with GOTO) TEST Depending on the value of an expression ... Product Specification IRB 2400 M98A/BaseWare OS 3.2 33 Technical specification WHILE Stop EXIT Break Repeats as long as ... Stops execution Stops execution when a restart is not allowed Stops execution temporarily Motion settings AccSet ConfJ ConfL VelSet GripLoad SingArea PDispOn PDispSet DefFrame DefDFrame EOffsOn EOffsSet ORobT SoftAct TuneServo Reduces the acceleration Controls the robot configuration during joint movement Monitors the robot configuration during linear movement Changes the programmed velocity Defines the payload Defines the interpolation method through singular points Activates program displacement Activates program displacement by specifying a value Defines a program displacement automatically Defines a displacement frame Activates an offset for an external axis Activates an offset for an external axis using a value Removes a program displacement from a position Activates soft servo for a robot axis Tunes the servo Motion MoveC MoveJ MoveL MoveAbsJ MoveXDO SearchC SearchL ActUnit DeactUnit Offs RelTool MirPos CRobT CJointT CPos CTool CWObj StopMove StartMove Moves the TCP circularly Moves the robot by joint movement Moves the TCP linearly Moves the robot to an absolute joint position Moves the robot and set an output in the end position Searches during circular movement Searches during linear movement Activates an external mechanical unit Deactivates an external mechanical unit Displaces a position Displaces a position expressed in the tool coordinate system Mirrors a position Reads current robot position (the complete robtarget) Reads the current joint angles Reads the current position (pos data) Reads the current tool data Reads the current work object data Stops robot motion Restarts robot motion Input and output signals InvertDO Inverts the value of a digital output signal PulseDO Generates a pulse on a digital output signal Reset Sets a digital output signal to 0 Set Sets a digital output signal to 1 SetAO Sets the value of an analog output signal SetDO Sets the value of a digital output signal after a defined time SetGO Sets the value of a group of digital output signals WaitDI Waits until a digital input is set WaitDO Waits until a digital output is set AInput Reads the value of an analog input signal DInput Reads the value of a digital input signal 34 Product Specification IRB 2400 M98A/BaseWare OS 3.2 Technical specification DOutput GInput GOutput TestDI IODisable IOEnable Reads the value of a digital output signal Reads the value of a group of digital input signals Reads the value of a group of digital output signals Tests if a digital input signal is set Disables an I/O module Enables an I/O module Interrupts ISignalDI ISignalDO ITimer IDelete ISleep IWatch IDisable IEnable CONNECT Orders interrupts from a digital input signal Orders interrupts from a digital output signal Orders a timed interrupt Cancels an interrupt Deactivates an interrupt Activates an interrupt Disables interrupts Enables interrupts Connects an interrupt to a trap routine Error Recovery EXIT RAISE RETRY TRYNEXT RETURN Terminates program execution Calls an error handler Restarts following an error Skips the instruction that has caused the error Returns to the routine that called the current routine Communication TPErase TPWrite TPReadFK TPReadNum ErrWrite Erases text printed on the teach pendant Writes on the teach pendant Reads function keys Reads a number from the teach pendant Stores an error message in the error log System & Time ClkReset ClkStart ClkStop ClkRead CDate CTime GetTime Resets a clock used for timing Starts a clock used for timing Stops a clock used for timing Reads a clock used for timing Reads the current date as a string Reads the current time as a string Gets the current time as a numeric value Mathematics Add Clear Decr Incr Abs Sqrt Exp Pow ACos ASin ATan/ATan2 Cos Sin Adds a numeric value Clears the value Decrements by 1 Increments by 1 Calculates the absolute value Calculates the square root Calculates the exponential value with the base “e” Calculates the exponential value with an arbitrary base Calculates the arc cosine value Calculates the arc sine value Calculates the arc tangent value Calculates the cosine value Calculates the sine value Product Specification IRB 2400 M98A/BaseWare OS 3.2 35 Technical specification Tan EulerZYX OrientZYX PoseInv PoseMult PoseVect Round Trunc Calculates the tangent value Calculates Euler angles from an orientation Calculates the orientation from Euler angles Inverts a pose Multiplies a pose Multiplies a pose and a vector Rounds a numeric value Truncates a numeric value Text strings NumToStr StrFind StrLen StrMap StrMatch StrMemb StrOrder StrPart StrToVal ValToStr Converts numeric value to string Searches for a character in a string Gets the string length Maps a string Searches for a pattern in a string Checks if a character is a member of a set Checks if strings are ordered Gets a part of a string Converts a string to a numeric value Converts a value to a string For more information on the programming language, see RAPID Reference Manual. Memory Memory size Instructions1) Program memory: Standard Extended memory 8 MB 2.5 MB2) 6.0 MB2) 7500 18000 Mass storage3) : RAM memory Standard Extended 8 MB 0.5 MB 4.0 MB 3000 31000 Diskette 1.44 MB 15000 1) Depending on type of instruction. Some software options reduce the program memory. See Product Specification RobotWare. 3) Requires approx. 3 times less space than in the program memory, i.e. 1 MB mass memory can store 3 MB of RAPID instructions. 2) Type of diskette: 3.5” 1.44 MB (HD) MS DOS format. Programs and all user-defined data are stored in ASCII format. Memory backup The RAM memory is backed up by two Lithium batteries. Each battery has a typical capacity of >12 months power off time. A warning is given at power on when one of the batteries is empty. 36 Product Specification IRB 2400 M98A/BaseWare OS 3.2 Technical specification 3.6 Automatic Operation The following production window commands are available: - Load/select the program - Start the program - Execute instruction-by-instruction (forward/backward) - Reduce the velocity temporarily - Display program-controlled comments (which tell the operator what is happening) - Displace a position, also during program execution (can be blocked) 3.7 Maintenance and Troubleshooting The following maintenance is required: - Changing filter for the drive system cooling every year. - Changing batteries every 3rd year. - Changing oil in the wrist after the first year and then every 5th year. The maintenance intervals depends on the use of the robot. For detailed information on maintenance procedures, see Maintenance section in the Product Manual. Product Specification IRB 2400 M98A/BaseWare OS 3.2 37 Technical specification 3.8 Robot Motion IRB 2400L The working area is the same for both floor and inverted mounting Type of motion Range of movement Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 +180o +110o +65o +185o +115o +400o Rotation motion Arm motion Arm motion Wrist motion Bend motion Turn motion -180o -100o -60o -185o -115o -400o (Unlimited as optional) to to to to to to 3421 Z Wrist centre Pos 0 Pos 1 Axis 4 Axis 3 1702 + + + Axis 5 Pos 6 R= + Axis 2 + Axis 6 521 2885 Pos 2 Pos 5 X Axis 1 Pos 3 560 Pos 4 100 1810 R= 570 0 40 = R Positions at wrist centre (mm) Pos 4 pos. x 0 1 2 3 4 5 6 970 404 602 1577 400 -1611 -115 z 1620 2298 745 -246 -403 623 1088 Angle (degrees) pos. axis 2 axis 3 0 1 2 3 4 5 6 0 0 0 110 110 -100 -100 0 -60 65 -60 24.5 -60 65 Figure 23 The extreme positions of the robot arm (dimensions in mm). 38 Product Specification IRB 2400 M98A/BaseWare OS 3.2 Technical specification IRB 2400/10, IRB 2400/16 The working area is the same for both floor and inverted mounting Type of motion Range of movement Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 +180o +110o +65o +200o +120o +400o Rotation motion Arm motion Arm motion Wrist motion Bend motion Turn motion to to to to to to -180o -100o -60o -200o (Unlimited as optional) -120o -400o (Unlimited as optional) 2900 Pos 1 Wrist centre Pos 0 Z Axis 4 Axis 3 1441 + + + + Axis 5 Axis 6 2458 Pos 6 + Axis 2 448 R= Pos 2 Pos 5 X Pos 3 Axis 1 393 Pos 4 100 1550 R= 570 00 =4 R Pos 4 Positions at wrist centre (mm) pos. x 0 1 2 3 4 5 6 855 360 541 1351 400 -1350 -53 z 1455 2041 693 -118 -302 624 1036 Angle (degrees) pos. axis 2 axis 3 0 1 2 3 4 5 6 0 0 0 110 110 -100 -100 0 -60 65 -60 18.3 -60 65 Figure 24 The extreme positions of the robot arm (dimensions in mm). Product Specification IRB 2400 M98A/BaseWare OS 3.2 39 Technical specification Performance according to ISO 9283 At rated load and 1 m/s velocity on the inclined ISO test plane with all six robot axes in motion. Unidirectional pose repeatability: RP = 0.06 mm Linear path accuracy: AT = 0.45 - 1.0 mm Linear path repeatability: RT = 0.14 - 0.25 mm Minimum positioning time, to within 0.2 mm of the position: 0.2 - 0.35 sec. (on 35 mm linear path) 0.4 - 0.6 sec. (on 350 mm linear path) The above values are the range of average test-results from a number of robots. If guaranteed values are required, please contact your nearest ABB Flexible Automation Centre. Velocity Versions: Axis no. 1 2 3 4 5 6 IRB 2400L 150o/s 150o/s 150o/s 360o/s 360o/s 450o/s IRB 2400/10 IRB 2400/16 150o/s 150o/s 150o/s 360o/s 360o/s 450o/s 150o/s 150o/s 150o/s 360o/s 360o/s 450o/s There is a supervision to prevent overheating in applications with intensive and frequent movements. Resolution Approx. 0.01o on each axis. 40 Product Specification IRB 2400 M98A/BaseWare OS 3.2 Technical specification 3.9 External Axes An external axis is an AC motor (IRB motor type or similar) controlled via a drive unit mounted in the robot cabinet or in a separate enclosure. See Specification of Variants and Options. Resolver Connected directly to motor shaft Transmitter type resolver Voltage ratio 2:1 (rotor: stator) 5.0 V/4 kHz Resolver supply Absolute position is accomplished by battery-backed resolver revolution counters in the serial measurement board (SMB). The SMB is located close to the motor(s) according to Figure 25, or inside the cabinet. For more information on how to install an external axis, see the Product Manual Installation and Commissioning. When more than two external axes are used, the drive units for external axis 3 and upwards must be placed in a separate cabinet according to Figure 25. Not supplied on delivery SMB SMB Measurement System 2 SMB SMB alt. Not supplied on delivery Drive System 2 inside user designed cabinet (no ABB drives) Measurement System 1 SMB Not supplied on delivery Figure 25 Outline diagram, external axes. Product Specification IRB 2400 M98A/BaseWare OS 3.2 41 Technical specification 3.10 Inputs and Outputs Types of connection The following types of connection are available: - “Screw terminals” on the I/O units - Serial interface for distributed I/O units - Air and signal connections to upper arm For more detailed information, see Chapter 4: Specification of Variants and Options. I/O units Several I/O units can be used. The following table shows the maximum number of physical signals that can be used on each unit. Digital Type of unit Analog Option no. In Out Digital I/O 24 VDC 20x 16 16 Internal/External1 Digital I/O 120 VAC 25x 16 16 Internal/External Analog I/O 22x AD Combi I/O 23x 16 16 Relay I/O 26x 16 16 Allen-Bradley Remote I/O Slave 281 1282 128 Interbus-S Slave 284-285 642 64 Profibus DP Slave 286-287 1282 128 100 100 4 Simulated I/O3 Encoder interface unit4 Voltage inputs 288-289 Voltage output 3 2 Current output 1 Power supply Internal Internal/External1 Internal/External1 30 30 1 1. The digital signals are supplied in groups, each group having 8 inputs or outputs. 2. To calculate the number of logical signals, add 2 status signals for RIO unit and 1 for Interbus-S and Profibus DP. 3. A non physical I/O unit can be used to form cross connections and logical conditions without physical wiring. No. of signals are to be configured. Some ProcessWares include SIM unit. 4. Dedicated for conveyor tracking only. Distributed I/O The total number of logical signals is 512 (inputs or outputs, group I/O, analog and digital including field buses) Max. total no of units* Max. total cable length Cable type (not included) Data rate (fixed) 20 (including SIM units) 100 m According to DeviceNet specification release 1.2 500 Kbit/s * Max. four units can be mounted inside the cabinet. 42 Product Specification IRB 2400 M98A/BaseWare OS 3.2 Technical specification Signal data Permitted customer 24 V DC load Digital inputs 24 V DC max. 6 A (options 201-208) Optically-isolated Rated voltage: 24 V DC Logical voltage levels: “1” 15 to 35 V “0” -35 to 5 V Input current at rated input voltage: 6 mA Potential difference: max. 500 V Time delays: hardware 5−15 ms software ≤ 3 ms Time variations: ± 2 ms Digital outputs (options 201-208) 24 V DC Optically-isolated, short-circuit protected, supply polarity protection Voltage supply 19 to 35 V Rated voltage 24 V DC Output current: max. 0.5 A Potential difference: max. 500 V Time delays: hardware ≤ 1 ms software ≤ 2 ms Time variations: ± 2 ms Relay outputs (options 261-268) Single pole relays with one male contact (normally open) Rated voltage: 24 V DC, 120 VAC Voltage range: 19 to 35 V DC 24 to 140 V AC Output current: max. 2 A Potential difference: max. 500V Time intervals: hardware (set signal) typical 13 ms hardware (reset signal) typical 8 ms software ≤ 4 ms Digital inputs 120 V AC (options 251-258) Optically isolated Rated voltage Input voltage range: “1” Input voltage range: “0” Input current (typical): Time intervals: hardware software Product Specification IRB 2400 M98A/BaseWare OS 3.2 120 V AC 90 to 140 V AC 0 to 45 V AC 7.5 mA ≤ 20 ms ≤ 4 ms 43 Technical specification Digital outputs 120 V AC (options 251-258) Optically isolated, voltage spike protection Rated voltage 120 V AC Output current: max. 1A/channel, 12 A 16 channels or max. 2A/channel, 10 A 16 channels (56 A in 20 ms) min. 30mA Voltage range: 24 to 140 V AC Potential difference: max. 500 V Off state leakage current: max. 2mA rms On state voltage drop: max. 1.5 V Time intervals: hardware ≤ 12 ms software ≤ 4 ms Analog inputs (options 221-228) Voltage Input voltage: +10 V Input impedance: >1 Mohm Resolution: 0.61 mV (14 bits) Accuracy: +0.2% of input signal Analog outputs (option 221-228) Voltage Output voltage: Load impedance: Resolution: Current Output current: Load impedance: Resolution: Accuracy: min. min. +10 V 2 kohm 2.44 mV (12 bits) 4-20 mA 800 ohm 4.88 µA (12 bits) +0.2% of output signal Analog outputs (option 231-238) Output voltage (galvanically isolated): Load impedance: min. Resolution: Accuracy: Potential difference: Time intervals: hardware software: 0 to +10 V 2 kohm 2.44 mV (12 bits) ±25 mV ±0.5% of output voltage max. 500 V ≤ 2.0 ms ≤ 4 ms Signal connections on robot arm For connection of extra equipment on the manipulator, there are cables integrated into the manipulator’s cabling, one Burndy UTG 014 12SHT connector and one Burndy UTG 018 23SHT connector on the rear part of the upper arm. A hose for compressed air is also integrated into the manipulator. There is an inlet (R1/4”) at the base and an outlet (R1/4”) on the rear part of the upper arm. Signals23 Power10 Air 1 44 50 V, 250 mA 250 V, 2 A Max. 8 bar, inner hose diameter 8 mm Product Specification IRB 2400 M98A/BaseWare OS 3.2 Technical specification System signals Signals can be assigned to special system functions. Several signals can be given the same functionality. Digital outputs Motors on/off Executes program Error Automatic mode Emergency stop Restart not possible Restart not successful Run chain closed Digital inputs Motors on/off Starts program from where it is Motors on and program start Starts program from the beginning Stops program Stops program when the program cycle is ready Stops program after current instruction Executes “trap routine” without affecting status of stopped regular program1 Loads and starts program from the beginning1 Resets error Resets emergency stop System reset Synchronizes external axes Analog output TCP speed signal 1. Program can be decided when configuring the robot. For more information on system signals, see User’s Guide - System Parameters. Product Specification IRB 2400 M98A/BaseWare OS 3.2 45 Technical specification 3.11 Communication The robot has two serial channels - one RS232 and one RS422 Full duplex - which can be used to communicate point to point with printers, terminals, computers and other equipment (see Figure 26). Figure 26 Serial point-to-point communication. The serial channels can be used at speeds of 300 to 19200 bit/s (max. 1 channel with speed 19200 bit/s). For high speed and/or network communication, the robot can be equipped with Ethernet interface (see Figure 27). Transmission rate is 10Mbit/s. Figure 27 Serial network communication. Character-based or binary information can be transferred using RAPID instructions. This requires the option Advanced functions, see Product Specification RobotWare. In addition to the physical channels, a Robot Application Protocol (RAP) can be used. This requires either the option FactoryWare Interface or RAP Communication, see Product Specification RobotWare. 46 Product Specification IRB 2400 M98A/BaseWare OS 3.2 Specification of Variants and Options 4 Specification of Variants and Options The different variants and options for the IRB 2400 are described below. The same numbers are used here as in the Specification form. For software options, see Product Specification RobotWare. Note Options marked with * are inconsistent with UL/UR approval. 1 MANIPULATOR VARIANTS 021 022 023 024 025 026 IRB 2400L IRB 2400FL IRB 2400/10 IRB 2400F/10 IRB 2400/16 IRB 2400F/16 IRB 2400 Application / Reach - Handling capacity Application: F Reach: Handling capacity: Robot adapted for foundry environments. Degree of protection as in chapter 3.4. The manipulator is finished with a special coating. Specifies the max. reach at the wrist centre. Specifies the nominal handling capacity. Manipulator colour The manipulator is painted with ABB orange if no colour is specified. 08A08V Colours according to RAL-codes. MOUNTING POSITION This choice specifies the configuration the robot will be delivered in. It can easily be changed without additional parts. 02x Floor mounted 02y Hanging APPLICATION INTERFACE For more details see chapter 3.10. 041 Integrated hose and cables for connection of extra equipment on the manipulator to the rear part of the upper arm. Product Specification IRB 2400 M98A/BaseWare OS 3.2 47 Specification of Variants and Options 043 Hose and cables for connection of extra equipment are extended to the wrist on the outside of the upper arm. Not possible on IRB 2400L, option 021 and 022. CONNECTION OF SIGNALS Internal or external connection is ordered by the choice of manipulator cable, options 641-644 and 651-656. 045 Internal connection The signals are connected directly inside the manipulator base to one 24-pins rectangular Burndy connector and one 12-pins rectangular Burndy connector. The cables connected to the Burndy connector must have a tightly closing cover with dimension according to Figure 28. (Only together with options 641-644.) External connection The signals are connected directly to the manipulator base to one 40-pins Harting connector. (Only together with options 651-656.) Not supplied on delivery Cover D=7 (2x) 40 74 86 Figure 28 Cover for internal connection of signals. Internal connection 67A- The signals are connected to 12-pole screw 67D terminals, Phoenix MSTB 2.5/12-ST-5.08, inside the controller. See Figure 38. If 43x If 043 If 67A-67D, 671-674 External connection 671- The signals are connected to 12-pole screw 674 terminals, Phoenix MSTB 2.5/12-ST-5.08, inside the controller. See Figure 38. 48 Product Specification IRB 2400 M98A/BaseWare OS 3.2 Specification of Variants and Options DRESSING 919 Mounting of extra equipment ordered from ABB Flexible Automation Sweden/Dpt U. SAFETY LAMP 691 A 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. POSITION SWITCH Switches indicating the position of axis 1. A design with two stationary or 1, 2 or 3 adjustable switches is available. The switches are manufactured by Telemecanique or Burnstein, and of type forced disconnect. Note The switches are not recommended to be used in severe environment with sand or chips. Switches axis 1 (see Figure 29) The first switch Controller The second switch Controller The third switch Controller 081 One switch 082 Two switches 083 Three switches Figure 29 Connections of the switches 084 Two switches, axis 1, stationary (see Figure 30) The two switches divide the working area of axis 1 into two fixed working zones, approx. 175° each. Together with external safety arrangement, this option allows access to one working zone at the same time as the robot is working in the other one. Controller Figure 30 Connections of the switches. Connection of signals 071- The signals are connected to 12-pole screw terminals, Phoenix MSTB 2.5/12-ST-5.08, 074 in the controller. Product Specification IRB 2400 M98A/BaseWare OS 3.2 49 Specification of Variants and Options WORKING RANGE LIMIT To increase the safety of the robot, the working range of axes 1, 2 and 3 can be restricted by extra mechanical stops. 621 Axis 1 Two extra stops for restricting the working range. The stops can be mounted within the area from 50o to 140o. See Figure 31. 140o 50o 50o 140o Figure 31 622 Axis 2 Stop lugs for restricting the working range. Figure 32 illustrates the mounting positions of the stops. 20o 40o 50o 70o 80o Figure 32 623 Axis 3 Equipment for electrically restricting the working range in increments of 5o. 2 SAFETY STANDARDS UNDERWRITERS LABORATORY Option 691 Safety lamp is included on UL and UR robots. 695 UL Listed, certificate on product level. Underwriters Laboratories Inc. has tested and examined the finished complete product, i.e. manipulator and controller, and determined that the product fulfils the stipulated safety standards. Some options marked with * are inconstistent with UL Listed. Option 112 Standard cabinet without upper cover can not be UL Listed at delivery, it may be ordered as UL Recognized. 696 UR Recognized, certificate on component level. Underwriters Laboratories Inc. has tested and examined the components in the product, manipulator and controller, and determined that they fulfil the stipulated safety standards. 50 Product Specification IRB 2400 M98A/BaseWare OS 3.2 Specification of Variants and Options 3 CONTROL SYSTEM CABINET SIZE 111 Standard cabinet (with upper cover). 112 Standard cabinet without upper cover. To be used when cabinet extension is mounted on top of the cabinet after delivery. This option is inconsistent with UL approval (option 695 UL Listed). 114 With extended cover 250 mm. The height of the cover is 250 mm, which increases the available space for external equipment that can be mounted inside the cabinet. This option is inconsistent with UL approval (option 695 UL Listed). 115 With cabinet extension, 800 mm. A cabinet extension is mounted on top of the standard cabinet. There is a mounting plate inside. (See Figure 33). The cabinet extension is opened via a front door and it has no floor. The upper part of the standard cabinet is therefore accessible. This option cannot be combined with option 142. This option is inconsistent with UL approval (option 695 UL Listed). Shaded area 40x40 (four corners) not available for mounting 705 730 Figure 33 Mounting plate for mounting of equipment (dimensions in mm). CABINET TYPE 121 Standard, i.e. without Castor wheels. 122 Cabinet on Castor wheels. Product Specification IRB 2400 M98A/BaseWare OS 3.2 51 Specification of Variants and Options OPERATOR’S PANEL The operator’s panel and teach pendant holder can be installed in different ways. 181 Standard, i.e. on the front of the cabinet. 182 External, i.e. in a separate operator’s unit. All necessary cabling, including flange, connectors, sealing strips, screws, etc., is supplied. External enclosure is not supplied. (See Figure 34.) 183 External, mounted in a box. (See Figure 35.) M4 (x4) M8 (x4) 45o 196 Required depth 200 mm 193 180 224 240 223 70 62 140 96 Holes for flange 184 External panel enclosure (not supplied) Holes for teach pendant holder Teach pendant connection Connection to the controller 200 Holes for operator’s panel 90 5 (x2) 155 Figure 34 Required preparation of external panel enclosure (all dimensions in mm). 52 Product Specification IRB 2400 M98A/BaseWare OS 3.2 Specification of Variants and Options M5 (x4) for fastening of box 337 Connection flange 370 Figure 35 Operator’s panel mounted in a box (all dimensions in mm). EXTERNAL CABLE LENGTH (for external panel) 185 15 m 186 22 m 187 30 m OPERATING MODE SELECTOR 193 Standard, 2 modes: manual and automatic 191* Standard, 3 modes: manual, manual full speed and automatic. DISK DRIVE COOLING 472 The disk drive normally works well at temperatures up to +40oC (104oF). At higher temperatures a cooling device for the drive is necessary to ensure good functionality. The disk drive will not deteriorate at higher temperatures but there will be an increase in the number of reading/writing problems as the temperature increases. MAINS FILTER (EU Electromagnetic compability) The mains filter reduces the emission of radio frequency on the incoming power, to levels below requirements in the Machinery Directive 89/392/EEC. For installations in countries not affected by this directive, the filter can be excluded. (The option number is depending on the transformer). 177-179 Mains filter Product Specification IRB 2400 M98A/BaseWare OS 3.2 53 Specification of Variants and Options DOOR KEYS 461 Standard 462 DIN 3 mm 463 Square outside 7 mm 465 EMKA MAINS VOLTAGE The robot can be connected to a rated voltage of between 200 V and 600 V, 3-phase and protective earthing. A voltage fluctuation of +10% to -15% is permissible in each connection. 151- Voltage 174 200 V 220 V 400 V 440 V Voltage Voltage 400 V 440 V 475 V 500 V 475 V 500 V 525 V 600 V CONNECTION OF MAINS The power is connected either inside the cabinet or to a connector on the cabinet’s left-hand side. The cable is not supplied. If option 132-133 is chosen, the female connector (cable part) is included. 131 Cable gland for inside connection. Diameter of cable: 11-12 mm. 133* 32 A, 380-415 V, 3p + PE (see Figure 36). 136* 32 A, 380-415 V, 3p + N + PE (see Figure 36). Figure 36 CEE male connector. 134 Connection via an industrial Harting 6HSB connector in accordance with DIN 41640. 35 A, 600 V, 6p + PE (see Figure 37). Figure 37 DIN male connector. 54 Product Specification IRB 2400 M98A/BaseWare OS 3.2 Specification of Variants and Options MAINS SWITCH 141* Rotary switch in accordance with the standard in section 3.2 and IEC 337-1, VDE 0113. 142 Rotary switch with door interlock. 143 Flange disconnect in accordance with the standard in section 3.2. Includes door interlock. 144 Rotary switch with door interlock and servo disconnector. This option adds a mechanical switch to the two series connected motors on contactors. The switch is operated by the same type of handle as the rotary mains switch. The handle can be locked by a padlock, e.g. in an off position. 147/149 Circuit breaker for the option rotary switch. A 16 A (147) or 25 A (149) circuit breaker for short circuit protection of main cables in the cabinet. Circuit breaker approved in accordance with IEC 898, VDE 0660. (The option number is depending on the transformer.) 14B Fuses (3x15 A) for the option Rotary switch for short circuit protection of main cables in the cabinet. Interrupt capacity: 50 kA. Product Specification IRB 2400 M98A/BaseWare OS 3.2 55 Specification of Variants and Options I/O AND COMMUNICATION The standard cabinet can be equipped with up to four I/O units. For more details, see Technical Specification 3.10. Note The use of I/O units and field buses can be limited because of CPU overload in the controller during motions. Backplane X1 (SIO1) X2 (SIO2) X10 (CAN3) I/O units (x4) X16 (CAN2) Panel unit WARNING REMOVE JUMPERS BEFORE CONNECTING ANY EXTERNAL EQUIPMENT MS NS EN ES1 ES2 GS1 GS2 AS1 AS2 X1 - 4 safety signals X5 XT5, customer signals XT6, customer power XT8, position switch XT21 (115/230 V ACsupply) X8 X6 CONTROL PANEL X9 (CAN1) XT31 (24V supply) Figure 38 I/O unit and screw terminal locations. CABINET I/O MODULES 201-208 Digital 24 VDC I/O: 16 inputs/16 outputs. 221-228 Analog I/O: 4 inputs/4 outputs. 231-238 AD Combi I/O: 16 digital inputs/16 digital outputs and 2 analog outputs (0-10V). 251-258 Digital 120 VAC I/O 16 inputs/16 outputs. 261-268 Digital I/O with relay outputs: 16 inputs/16 outputs. Relay outputs to be used when more current or voltage is required from the digital outputs. The inputs are not separated by relays. 56 Product Specification IRB 2400 M98A/BaseWare OS 3.2 Specification of Variants and Options Connection of I/O: 301 Internal connection (options 201-204, 221-224, 231-234, 251-254, 261-264) The signals are connected directly to screw terminals on the I/O units in the upper part of the cabinet (see Figure 38). 305 External connection Standard industrial connectors, 64-pin/socket plugs in accordance with DIN 43652, located on the left-hand side of the cabinet. Corresponding cable connectors are also supplied. FIELD BUSES MOUNTED IN CABINET For more details, see Technical Specification 3.9. 281 Allen-Bradley Remote I/O Slave Up to 128 digital inputs and 128 digital outputs, in groups of 32, can be transferred serially to a PLC equipped with an Allen-Bradley 1771 RIO node adapter. The unit reduces the number of I/O units that can be mounted in cabinet by one. The field bus cables are connected directly to the screw terminals on the A-B RIO unit in the upper part of the cabinet (see Figure 38). 284/285 InterBus-S Slave Up to 64 digital inputs and 64 digital outputs per unit, in groups of 16, can be transferred serially to a PLC equipped with an InterBus-S interface. The unit reduces the number of I/O units that can be mounted in cabinet by one. The signals are connected directly to the InterBus-S-slave unit (two 9-pole D-sub) in the upper part of the cabinet, and to a 5-pole screw connector. 286/287 Profibus DP Slave Up to 128 digital inputs and 128 digital outputs per unit, in groups of 16, can be transferred serially to a PLC equipped with a Profibus DP interface. The unit reduces the number of I/O units that can be mounted in cabinet by one. The signals are connected directly to the Profibus DP slave unit (one 9-pole D-sub) in the upper part of the cabinet, and to a 5-pole screw connector. 288/289 Encoder interface unit for conveyor tracking Conveyor Tracking, or Line Tracking, is the function whereby the robot follows a work object which is mounted on a moving conveyor. The encoder and synchronization switch cables are connected directly to the encoder unit in the upper part of the cabinet (see Figure 38). Screw connector is included. For more information see Product Specification RobotWare. Product Specification IRB 2400 M98A/BaseWare OS 3.2 57 Specification of Variants and Options CONNECTION OF SAFETY SIGNALS 381 Internal The signals are connected directly to screw terminals (X1-X4) in the upper part of the cabinet (see Figure 38). 382 External Standard industrial connectors, 64-pin plugs in accordance with DIN 43652, located on the left-hand side of the cabinet. Corresponding cable connectors are also supplied. ADDITIONAL UNITS I/O units can be delivered separately. The units can then be mounted outside the cabinet or in the cabinet extension. These are connected in a chain to a connector (CAN 3 or CAN 2, see Figure 38) in the upper part of the cabinet. Connectors to the I/O units and a connector to the cabinet (Phoenix MSTB 2.5/xx-ST-5.08), but no cabling, is included. Measures according to Figure 39 and Figure 40. For more details, see Technical Specification 3.9. 68A-F Digital I/O 24 V DC: 16 inputs/16 outputs. 68G-H Analog I/O. 68 I-L AD Combi I/O: 16 digital inputs/16 digital outputs and 2 analog outputs (0-10V). 68M-P Digital I/O 120 V AC: 16 inputs/16 outputs. 68Q-T Digital I/O with relay outputs: 16 inputs/16 outputs. 68U Allen Bradley Remote I/O 68V-X Interbus-S Slave 68Y-Z Profibus DP Slave 69A-B Encoder interface unit for conveyor tracking EN 50022 mounting rail 195 203 49 Figure 39 Dimensions for units 68A-T. 58 Product Specification IRB 2400 M98A/BaseWare OS 3.2 Specification of Variants and Options EN 50022 mounting rail 170 115 49 Figure 40 Dimension for units 67U-Z, 69A-B. COMMUNICATION As standard, the robot is equipped with one RS232 (SIO 1) and one RS422 (SIO 2) connector inside the cabinet. The signals are connected to 9-pole D-sub connectors on the backplane. See Figure 26 and Figure 38. 292 EtherNet (See Figure 27.) Connectors: RJ45 and AUI on the board front. 294 DeviceNet Connection on the left side to a 5-pole connector in accordance with ANSI. TEACH PENDANT 631 With back lighting Extension cable for the teach pendant: 661 10 m This can be connected between the controller and the connector on the teach pendant’s cable. A maximum of two extension cables may be used; i.e. the total length of cable between the controller and the teach pendant should not exceed 30 m. 662 2 x 10 m Teach pendant language: 575 576 577 578 579 580 581 582 583 584 585 English Swedish German French Spanish Portuguese Danish Italian Dutch Japanese Czech Product Specification IRB 2400 M98A/BaseWare OS 3.2 59 Specification of Variants and Options EXTERNAL AXES Drive unit mounted in cabinet The controller is equipped with drives for external axes.The motors are connected to a standard industrial 64-pin female connector, in accordance with DIN 43652, on the lefthand side of the cabinet. (Male connector is also supplied.) The transformer 4.5 kVA is replaced with 7.2 kVA, and the DC-link size DC1 is replaced with DC2. 391 Drive unit T The drive unit is part of the DC-link. Recommended motor type see Figure 41. 392 Drive unit GT A separate drive unit including two drives. Recommended motor types see Figure 41. 394 Drive unit T+GT A combination of 391 and 392. 395 Drive unit C The drive unit is part of the DC-link. Recommended motor type see Figure 41. 396 Drive unit C+GT A combination of 395 and 392. 398 Prepared for GT No drive units or cables are included, only transformer 7.2 kVA and DC link DC2. EXTERNAL AXES MEASUREMENT BOARD The resolver can either be connected to a serial measurement board outside the controller, or to a measurement board inside the cabinet. 386 Serial measurement board inside cabinet Signal interface to external axes with absolute position at power on. The board is located in the cabinet and occupies one I/O unit slot. The resolvers are connected to a standard industrial 64-pin connector in accordance with DIN 43652, on the left-hand side of the cabinet. 387 Serial measurement board as separate unit 24 V POWER SUPPLY As standard, the 24 V supply to the serial measurement board disappears almost momentarily at a power failure. To allow position control of external high speed (> 3000 rpm) motors during the power failure braking intervals, a power supply unit with extended 24 V capacity can be installed. 39A Standard power supply unit 39B Extended power supply unit 60 Product Specification IRB 2400 M98A/BaseWare OS 3.2 Specification of Variants and Options EXTERNAL AXES - SEPARATE CABINET If more external axes than in option 390 are to be used, an external cabinet can be supplied. The external cabinet is connected to one Harting connector (cable length 7 m) on the left-hand side of the robot controller. Door interlock, mains connection, mains voltage and mains filter according to the robot controller. One transformer 7.2 kVA, and one mains switch are included. 37N-O Drive unit GT, for 4, or 6 motors. Recommended motor types see Figure 41. 37Q Drive unit ECB, for 3 or 6 motors. Recommended motor types see Figure 41. 37V Drive unit GT + ECB 37X Drive unit GT + GT + ECB Drive unit data Max current Rated current Motor type1 U 11 - 55A rms 24A rms M, L G 6 - 30A rms 16A rms S, M, L T 7,5 - 37A rms 20A rms S, M, L E 4 - 19A rms 8,4A rms C 2,5 - 11A rms 5A rms B 1,5 - 7A rms 4A rms 1. Motors from ABB Flexible Automation/System Products. Types: S=small (TN=1,7 Nm), M=medium (TN=5 Nm), L=large (TN=12 Nm) Figure 41 Motor selecting table. EQUIPMENT Manipulator cable, internal connectors 641- The cables are connected directly to the drive units inside the cabinet via a cable 644 gland on the left-hand side of the controller. These options are not available for IRB 2400F. Manipulator cable, external connection 651- The cables are connected to 64-pin standard industrial connectors in accordance with 654 DIN 43652, located on the left-hand side of the controller and on the base of the manipulator. 655 7 m, metal braided 656 15 m, metal braided Product Specification IRB 2400 M98A/BaseWare OS 3.2 61 Specification of Variants and Options SERVICE OUTLET Any of the following standard outlets with protective earthing can be chosen for maintenance purposes. The maximum load permitted is 500 VA (max. 100 W can be installed inside the cabinet). 421* 230 V mains outlet in accordance with DIN VDE 0620; single socket suitable for Sweden, Germany and other countries. 422* 230 V in accordance with French standard; single socket. 423* 120 V in accordance with British standard; single socket. 424 120 V in accordance with American standard; single socket, Harvey Hubble. 425* Service outlet according to 421 and a computer connection on the front of the cabinet. The computer connection is connected to the RS232 serial channel. POWER SUPPLY 431 Connection from the main transformer. The voltage is switched on/off by the mains switch on the front of the cabinet. 432 Connection before mains switch without transformer. Note this only applies when the mains voltage is 400 V, three-phase with neutral connection and a 230 V service socket. Note! Connection before mains switch is not in compliance with some national standards, NFPL 79 for example. 433 Connection before mains switch with an additional transformer for line voltages 400-500 V and with a secondary voltage of 115 V or 230 V, 2A. Note! Connection before mains switch is not in compliance with some national standards, NFPL 79 for example. 439 Earth fault protection To increase personal safety, the service outlet can be supplied with an earth fault protection which trips at 30 mA earth current. The earth fault protection is placed next to the service outlet (see Figure 38). Voltage range: 110 - 240 V AC. RAM MEMORY 402 Standard, total memory 8+8 MB 403 Extended memory, total 8+16 MB 62 Product Specification IRB 2400 M98A/BaseWare OS 3.2 Specification of Variants and Options EXTRA DOCUMENTATION Product Manuals G11-G13 G21-G23 G31-G33 G41-G43 G51-G53 G61-G63 G71-G73 G81-G83 G91-G93 English Swedish German French Spanish Portuguese Danish Italian Dutch Product Specification IRB 2400 M98A/BaseWare OS 3.2 63 Specification of Variants and Options 64 Product Specification IRB 2400 M98A/BaseWare OS 3.2 Accessories 5 Accessories There is a range of tools and equipment available, specially designed for the robot. Software options for robot and PC For more information, see Product Specification RobotWare. Robot Peripherals - Track Motion - Tool System - Motor Units Product Specification IRB 2400 M98A/BaseWare OS 3.2 65 Accessories 66 Product Specification IRB 2400 M98A/BaseWare OS 3.2 Index 6 Index A absolute measurement 12 accessories 65 Allen-Bradley Remote I/O 16, 42, 57 analog signals 16, 44 arithmetic 33 arrays 33 automatic mode 9 automatic operation 11, 37 B backup absolute measurement 24 memory 36 BaseWare OS 3 battery 36 C cabinet extension 19, 51 cabinet wheels 51 communication 17, 46 concurrent I/O 17 configuration 9, 17, 24 connection 62 mains supply 54 cooling device 19 coordinate systems 14 cross connections 17 cursor 7 D DeviceNet 59 diagnostics 12 digital signals 16, 43 diskette 36 display 7, 23 distributed I/O 42 DOOR KEYS 54 drive units 60, 61 position 11 programs 10 emergency stop 6, 7, 22 enabling device 6, 7 Encoder interface unit 42, 57 equipment mounting 30 permitted extra load 30 error handling 12 event routine 12 extended cover 19, 51 extended memory 36 external axes 16, 41 external panel 52 extra equipment connections 48 F fire safety 7 fly-by point 10 function keys 23 functions 33 H hold-to-run control 7 humidity 24 I I/O 16, 42 I/O units 42 incremental jogging 16 inputs 16, 42 installation 9, 24 instructions 33 Interbus-S Slave 42, 57 interrupt 17 inverted robot 9 J jogging 16 joystick 8 E L editing language 24 Product Specification IRB 2400 M98A/BaseWare OS 3.2 67 Index lighting connection 62 teach pendant 59 load 9, 25 load diagrams 26 logical expressions 33 M mains supply 54 mains switch 55 mains voltage 53, 54 maintenance 12, 37 manipulator cable 61 manual mode 9 mechanical interface 32 memory backup 36 extended 36 mass storage 36 RAM memory 36 menu keys 23 mirroring 10 motion 13, 38 motion keys 23 motion performance 14 mounting extra equipment 30 robot 25 mounting flange 32 Multitasking 17 N navigation keys 23 noise level 19 O operating mode 8 operating mode selector 53 operating requirements 24 operation 7, 23 operator dialogs 24 operator’s panel 8, 52 options 47 outputs 16, 42 overspeed protection 6 68 P password 11, 24 payload 9 performance 14, 40 PLC functionality 17 position editing 11 execution 15 programming 10, 15 position fixed I/O 17 position switch 49 power supply 24 printer 10 production window 11 Profibus DP Slave 42, 57 program editing 10 testing 11 program displacement 34 program storage 36 programming 9, 33 programming language 33 protection standards 24 Q QuickMove 14 R range of movement working space 38 RAPID 33 reduced speed 6 repeatability 40 robot motion 38 Robot Peripherals 65 robot versions 3, 47 S safeguarded space stop 6, 22 delayed 6, 22 safety 6, 22 safety lamp 7, 49 serial communication 17, 46 service 12 service outlets 62 Product Specification IRB 2400 M98A/BaseWare OS 3.2 Index service position indicator 49 signal connections 44, 48 signal data 43 singular points 14 soft servo 34 space requirements 19 standards 6, 22 stationary TCP 15 stop point 10 structure 5, 19 suspended robot 9 system signals 45 T TCP 15 teach pendant 7, 23 teach pendant cable 59 teach pendant lighting 59 temperature 24 testing programs 11 transformer 54 trap routines 17 troubleshooting 12 TrueMove 14 U UL approved 7, 22 user-defined keys 24 V variants 47 volume 19 W weight 19 window keys 23 windows 7 working space restricting 7, 50 Product Specification IRB 2400 M98A/BaseWare OS 3.2 69 Index 70 Product Specification IRB 2400 M98A/BaseWare OS 3.2
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