Product specification
Product specification
Articulated robot
IRB 1600 - 5/1.2
IRB 1600 - 5/1.45
IRB 1600 - 7/1.2
IRB 1600 - 7/1.45
M2004
1 Description
1.1.1 Introduction
Manipulator axes
Axis 3
-
Axis 4
+
Axis 5
-
+
-
+
Axis 2
+ -
Axis 6
+
Axis 1
+
-
Figure 1 The IRB 1600 manipulator has 6 axes.
6
Rev.1
3HAC023604-001
1 Description
1.1.2 Different robot versions
1.1.2 Different robot versions
General
The IRB 1600 is available in four versions and can be mounted on the floor, wall or
inverted. Tilting of 30º of the robot base is allowed for the floor mounted with a
rotation of axis 1 within ±45º. For the wall mounted robot the rotation of axis 1 is
limited within ± 20º.
Robot type
Handling capacity
Reach
IRB 1600
5 kg
1.2 m
IRB 1600
5 kg
1.45 m
IRB 1600
7 kg
1.2 m
IRB 1600
7 kg
1.45 m
Robot
Weight
IRB 1600 - X/1.2
250 kg
IRB 1600 - X/1.45
250 kg
Data
Description
Note
Airborne noise level
The sound pressure level outside the working space
< 70 dB (A) Leq (acc. to Machinery directive 89/392 EEC)
Manipulator
weight
Other technical
data
Power
consumption
Path E1-E2-E3-E4 in the ISO Cube, max.load.
Speed (mm/s)
3HAC023604-001
Power consumption (kW)
IRB 1600 - x/1.2
IRB 1600 - x/1.45
Max.
0.58
0.57
1000
0.49
0.50
500
0.45
0.45
100
0.41
0.43
Rev.1
7
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1 Description
1.3.1 Operator’s panel
1.3 Operation
1.3.1 Operator’s panel
Control Module
A
B
C
D
E
F
Figure 3 Control Module.
12
Pos
Name
A
Mains switch and remote control of power to Drive Module(s)
B
Emergency stop If pressed in, pull to release
C
MOTORS ON
D
Operating mode selector
E
Safety chain LEDs (option)
F
Service hatch
-Ethernet connection
-USB connection (option)
Rev.2
3HAC 021785-001
1 Description
1.3.1 Operator’s panel
Motors on
Operating mode
selector
MOTORS ON
Operation
Note
Continuous light
Ready for program execution.
Fast flashing light (4Hz)
The robot is not calibrated or the The motors have been
revolution counters are not
switched on.
updated.
Slow flashing light (1 Hz)
One of the protective space
stops is active.
The motors have been
switched off.
Using a key switch, the robot can be locked in two or three different operating modes
(depending on chosen mode selector).
Operating mode
Description
Automatic mode
Running production
Signs
Manual mode at reduced speed Programming and setup
Max. speed 250 mm/s (600 inches/min.)
Manual mode at full speed
Remote Control
Testing at full program speed
Equipped with this mode, the robot is not
approved according to
ANSI/UL
100%
Both the operator’s panel and the FlexPendant can be mounted externally, i.e. separated from the cabinet and the robot can then be controlled from there.
The optional remote panel contains:
•
Emergency stop
•
MOTORS ON
•
Operating mode selector
•
FlexPendant connector
Remaining on the Control Module:
•
Mains switch
•
Optional safety LEDs
•
Service connections
The robot can also be controlled remotely 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 Operating Manual FlexPendant
and Operating manual RobotStudioOnline
3HAC 021785-001
Rev.2
13
1 Description
1.3.1 Operator’s panel
Drive Module
A
B
C
Figure 4 Drive Module.
14
Pos
Description
A
Mains isolator switch.
B
Stand by lamp indicates that electronic supply is switched on by the Control Module mains switch.
C
Duty Time Counter (option) accumulates the hours (up to 99999.99 h) when the
motors are in operation.
Rev.2
3HAC 021785-001
1 Description
1.3.2 FlexPendant
1.3.2 FlexPendant
All operations and programming can be carried out using the portable FlexPendant
(see Figure 3), the operator’s panel (see Figure 5) and RobotStudioOnline.
C
B
A
F
E
D
Figure 5 The FlexPendant is equipped with a large touch screen color display, which displays different
kinds of system information, plain language messages, pictures/graphs and areas for user interaction
through finger touch.
Pos
Description
A
Display
B
User defined keys
C
Emergency stop button
D
Joystick
E
Hold-to-run button (at the rear)
F
Program execution keys
Information is presented on the display in an intuitive way. No previous programming or computer experience is required to learn how to use the FlexPendant. All
information is in English or, if preferred, some other language (available languages,
see options in chapter 2). The user can choose two alternative languages besides
English without reloading RobotWare.
3HAC 021785-001
Feature
Description
Display
A 7.7” color display which displays text as well as graphical information.
User input is entered by pressing menu commands, push buttons etc
on the display (no stylus required). Several windows can be open
simultaneously. Zoom in and out is available in many views.
Many properties of the display can be set by the user for a personalized
look and feel.
It is possible to invert the display and joystick directions to make the
FlexPendant suitable for left handed users.
The FlexPendant can house powerful user applications built on
Microsoft.NET technology.
Rev.2
15
1 Description
1.3.2 FlexPendant
Feature
Description
Program execution
keys
Keys for program start/stop and stepwise execution forward/backward.
User-defined keys
Four user-defined keys that can be configured to set or reset an output
(e.g. open/close gripper) or to activate a system input.
Hold-to-run
A button which must be pressed continuously when running the program in manual mode with full speed.
Enabling device
A push button which, in manual mode, when pressed halfway in, takes
the system to MOTORS ON.
When the enabling device is released or pushed all the way in, the
robot is brought to the MOTOR OFF state.
Joystick
The 3D joystick is used to jog (move) the robot manually; e.g. when
programming the robot. 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.
Emergency stop
button
The robot stops immediately when the button is pressed in.
Example of
FlexPendant
window
Figure 6 Example of a FlexPendant window; The jogging window with the quick bar menu open at the right
side.
16
Rev.2
3HAC 021785-001
1 Description
1.7.1 Introduction
1.7 Programming
1.7.1 Introduction
General
Programming the robot can be done both from the FlexPendant or RobotStudioOnline.
On the FlexPendant, instructions and arguments are picked from lists of appropriate
alternatives. In RobotStudioOnline, programs are typed in in a free text format and
checked for errors when “Apply Changes” is clicked (if no errors, the changes immediately take effect in the robot memory).
Programming
environment
The programming environment can be easily customized:
•
Shop floor language can be used to name programs, signals, counters, etc
•
New instructions with suitable names can be created
•
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 (compile) the program.
Movements
A sequence of movements is programmed as a number of partial movements between
the positions to which you want the robot to move.
End position
The end position of a movement is selected either by manually jogging the robot to
the desired position with the joystick, or by referring to a previously defined position.
26
Rev.2
3HAC 021785-001
1 Description
1.7.1 Introduction
Position types
A position can be defined either 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 additional axes.
Stop point
Fly-by point
(A)
Figure 8 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.
Velocity
Program
management
Pos
Description
A
User-definable distance (in mm).
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 rotation of an additional axis)
For convenience, the programs can be named and stored in different directories.
The mass memory can also be used for program storage. Programs can then be automatically downloaded using a program instruction. The complete program or parts
of programs can be transferred to/from the network or a portable flash memory connected to a USB port.
The program is stored as a normal PC text file, which means that it can be edited
using a standard PC.
Editing programs
Programs can be edited using standard editing commands, i.e. “cut-and-paste”, copy,
delete, etc. Individual arguments in an instruction can also be edited using these commands.
A robot position can easily be changed either by:
3HAC 021785-001
•
jogging the robot with the joystick to a new position and then pressing the “ModPos”
key (this registers the new position)
•
entering or modifying numeric values
Rev.2
27
1 Description
1.7.1 Introduction
To prevent unauthorized personnel from 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 a single cycle
•
execute forwards/backwards step-by-step
•
simulate wait conditions
•
temporarily reduce the speed
•
change a position
For more information, see the Operating Manual FlexPendant and Operating manual
RobotStudioOnline.
28
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3HAC 021785-001
5 Jogging
5.3.13. Quickset menu, Mechanical unit
Continued
Step
2.
Action
If you want to view/change any motion mode functionality, tap the Motion mode
settings button.
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The following buttons are displayed:
• A: Axes 1-3 motion mode
• B: Axes 4-6 motion mode
• C: Linear motion mode
• D: Reorient motion mode
• E: Close motion mode settings
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5 Jogging
5.3.13. Quickset menu, Mechanical unit
Continued
Step
3.
Action
If you want to view/change the available tools, tap the Tool settings button.
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A list of all available, defined tools is shown. Tap the one to use.
4.
If you want to view/change the available work objects, tap the Work object settings
button.
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A list of all available, defined work objects is shown. Tap the one to use.
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5 Jogging
5.3.13. Quickset menu, Mechanical unit
Continued
Step
5.
Action
If you want to view/change any Coordinate system functionality, tap the
Coordinate system settings button.
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The following buttons are displayed:
• World coordinate system
• Base coordinate system
• Tool coordinate system
• Work object coordinate system
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5 Jogging
5.3.14. Quickset menu, Increment
5.3.14. Quickset menu, Increment
Increment
All functions under this button may also be reached from the Jogging menu.
Step
1.
Action
If you want to view/change any increment functionality, tap the increment button.
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Tap to select increment size:
• None for no increments
• Small movement increments
• Medium movement increments
• Large movement increments
• User for movement increments defined by the user.
Tap Show values to display the increment values.
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6 Programming and testing
6.7.1. Handling of programs
Continued
Loading an existing program
This section describes how to load an existing program.
Step
Action
1.
On the ABB menu, tap Program Editor.
2.
Tap Tasks and Programs.
3.
Tap File, then Load Program.
If there was already a program loaded, a warning dialog appears.
• Tap Save to save the loaded program.
• Tap Don’t save to close loaded program without saving it, i.e. delete from
program memory.
• Tap Cancel to leave the program loaded.
4.
Use the file searching tool to locate the program file to be loaded (file type pgf).
Then tap OK.
The program is loaded and the program code is displayed.
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Saving a program
This section describes how to save a loaded program to the controller’s hard disk.
A loaded program is automatically saved in the program memory, but saving to the controller
hard disk is an extra precaution.
Step
Action
1.
On the ABB menu, tap Program Editor.
2.
Tap Tasks and Programs.
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6 Programming and testing
6.7.4. Handling of instructions
6.7.4. Handling of instructions
Instructions
A RAPID program consists of instructions. An instruction can, for example, move the robot,
set an I/O signal, or write a message to the operator.
A large number of instructions are available, and these are listed in RAPID reference manual
- Instructions. The basic procedure for adding instructions are, however, identical.
Undo and redo
When editing programs in the Program editor, you can undo and redo up to three steps. This
function is available in the Edit menu.
Adding instructions
This section describes how to add instructions.
Step
Action
1.
On the ABB menu, tap Program Editor.
2.
Tap to highlight the instruction under which you want to add a new instruction.
3.
Tap Add instruction.
A category of instructions is displayed.
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A large number of instructions, divided into several categories, are available. The
default category is Common, where the most common instructions are listed.
You can create three personalized lists using the system parameters of the type
Most Common Instruction in the topic Man-machine Communication. The system
parameters are described in Technical reference manual - System parameters.
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6 Programming and testing
6.7.4. Handling of instructions
Continued
Step
Action
4.
Tap Common to display a list of the available categories.
You can also tap Previous/Next at the bottom of the list of instructions to move to
the next/previous category.
5.
Tap the instruction you want to add.
The instruction is added to the code.
Editing instruction arguments
This section describes how to edit instruction arguments.
Step
1.
Action
Tap the instruction to edit.
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6 Programming and testing
6.7.4. Handling of instructions
Continued
Step
2.
Action
Tap Edit.
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3.
Tap Change Selected.
Depending on the type of instruction, the arguments have different data types.
Use the soft keyboard to change string values or proceed to the next steps for
other data types or multiple argument instructions.
en0400000702
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6 Programming and testing
6.7.4. Handling of instructions
Continued
Step
4.
Action
Tap the argument to be changed.
A number of options are displayed.
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5.
Tap an existing data instance to select and then tap OK to complete, or tap Insert
Expression... See more about expressions in section Editing instruction
expressions and declarations on page 188.
To edit a particular data instance, see Editing instruction expressions and
declarations on page 188.
TIP!
Tapping twice on an instruction will automatically launch the Change selected option.
Tapping twice on an instruction argument will automatically launch the argument editor.
Copying and pasting instructions or arguments
This section describes how to paste instructions or arguments.
Step
Action
1.
Tap to select the argument or instruction you want to copy and then tap Edit.
2.
Tap Copy.
3.
Place the cursor on the instruction above where you want to paste the instruction
or argument, or tap on the argument or instruction you want to change and tap
Paste.
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6 Programming and testing
6.7.4. Handling of instructions
Continued
Cutting an instruction
This section describes how to cut an instruction.
Step
Action
1.
Tap to select the instruction you want to cut and then tap Edit.
2.
Tap Cut.
Changing motion mode for a move instruction
This section describes how to change the motion mode for a move instruction.
Step
Action
1.
Tap to select the move instruction you want to change and then tap Edit.
2.
Tap Change to Joint or Change to Linear.
The change is performed.
Commenting instruction rows
Instruction rows can be commented, i.e. skipped in the program execution. The comment/
uncomment command is found under the Edit menu in the Program editor.
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6 Programming and testing
6.7.5. Example: Add movement instructions
6.7.5. Example: Add movement instructions
Overview
In this example you will create a simple program that makes the robot move in a square. You
need four movement instructions to complete this program.
A
B
C
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A
First point
B
Robot movement Speed data v50 = speed 50mm/s
C
Zone z50 = (50mm)
Add movement instructions
This section details how to add movement instructions.
Step
Action
Info
1.
Jog the robot to the first point.
Tip: Use only left-right/updown joystick movements to
jog in a square.
2.
In the program editor, tap Add Instruction.
3.
Tap MoveL to insert a MoveL instruction.
4.
Repeat for the next three positions of the square.
5.
Tap on z50 in the last instruction. Tap Edit and
then Change selected.
6.
Tap Fine to make the square end in a stop point.
Tap OK.
Result
Your program code should look like this:
Proc main()
MoveL *, v50, z50, tool0;
MoveL *, v50, z50, tool0;
MoveL *, v50, z50, tool0;
MoveL *, v50, fine, tool0;
End Proc;
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6 Programming and testing
6.9.4. Quickset menu, Run Mode
6.9.4. Quickset menu, Run Mode
Run mode
By setting run mode you define if the program execution should run once and then stop, or
run continuously.
Under the Run mode menu, you can also select which tasks should be active or deactivated if
you have the Multitasking option installed. Select task is also available under the Quickset
Step mode menu.
Select run mode
This section describes how to select run mode using the Quickset menu.
Step
1.
Action
If you want to view/change any Run mode functionality, tap the Run Mode button.
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The following buttons are displayed:
• Single cycle running
• Continuous running
The Show tasks button opens the list with available tasks.
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6 Programming and testing
6.9.4. Quickset menu, Run Mode
Continued
Step
2.
Action
If you want to view/change which tasks that are active, tap the Show Tasks button.
To select tasks you must be in manual mode.
en0400000992
The following is displayed:
• A list of all available tasks. Tap to activate or deactivate tasks.
• Hide tasks will hide the task list.
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6 Programming and testing
6.9.5. Quickset menu, Step Mode
6.9.5. Quickset menu, Step Mode
Step mode
By setting step mode you define how the step-by-step program execution should function.
Under the Step mode menu, you can also select which tasks should be active or deactivated
if you have the Multitasking option installed. Select task is also available under the Quickset
Run mode menu.
Select step mode
This section describes how to select step mode using the Quickset menu.
Step
1.
Action
If you want to view/change any Step mode functionality, tap the Step Mode button.
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After tapping Step Mode, the following buttons are displayed:
• Step into. Steps into called routines and executes them step-by-step.
• Step out. Executes the remains of the current routine and then stops at the
next instruction in the routine from which the current routine was called.
Not possible to use in the Main routine.
• Step over. Called routines are executed in one single step.
• Next move instruction. Steps to the next move instruction. Stops before
and after movement instructions to allow e.g. modifying positions.
Show tasks opens the list of available tasks.
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6 Programming and testing
6.9.5. Quickset menu, Step Mode
Continued
Step
2.
Action
If you want to view/change which tasks that are active, tap the Show Tasks button.
To select tasks you must be in manual mode.
en0400000993
The following is displayed:
• A: A list of all available tasks. Tap to activate or deactivate tasks.
• B: Hide tasks will hide the task list.
Related information
Modifying positions on page 184.
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