Product specification

Product specification
Product specification
Articulated robot
IRB 640
M2000
Product specification
Articulated robot
3HAC 9217-1
Rev.B
IRB 640
M2000
The information in this manual is subject to change without notice and should not be construed
as a commitment by ABB. ABB assumes no responsibility for any errors that may appear in
this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be construed
as any kind of guarantee or warranty by ABB for losses, damages to persons or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from use of
this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB’s written permission, and contents thereof must not be imparted to a third party nor be used for any unauthorized purpose. Contravention will be prosecuted.
Additional copies of this manual may be obtained from ABB at its then current charge.
©Copyright 2004 ABB All right reserved.
ABB Automation Technologies AB
Robotics
SE-721 68 Västerås
Sweden
Table of Contents
1 Description
5
1.1 Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.1.2 Robot data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.2 Safety/Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.2.1 Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.3 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.3.2 Operating requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.3.3 Mounting the manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.3.4 Load diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.3.5 Mounting equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.4 Maintenance and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.5 Robot Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
1.5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
1.5.2 Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.6 Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
1.6.1 Signal connections on robot arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2 Specification of Variants and Options
21
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2.1.1 General. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2.1.2 Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3 Accessories
3HAC 9217-1
27
Rev.B
3
Table of Contents
4
Rev.B
3HAC 9217-1
1 Description
1.1.1 Introduction
1 Description
1.1 Structure
1.1.1 Introduction
Industrial robot
IRB 640 is a 4-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 IRB 640 is extremely powerful with a handling capacity of 160 kg, and thanks
to optimised robot drive-trains and ABB’s patented QuickMoveTM functions, it is the
quickest robot in its class.
BaseWare OS
The robot is equipped with the operating system BaseWare OS. BaseWare OS controls every aspect of the robot, like motion control, development and execution of
application programs communication etc. See Product specification - Controller
S4Cplus.
Optional software
For additional functionality, the robot can be equipped with optional software for
application support - for example gluing and arc welding, communication features network communication - and advanced functions such as multitasking, sensor control etc. For a complete description on optional software, see the Product specification - Controller software RobotWare Options.
3HAC 9217-1
Rev.B
5
1 Description
1.1.2 Robot data
Axis 3
Axis 2
Axis 6
Axis 1
Figure 1 The IRB 640 manipulator has 4 axes.
1.1.2 Robot data
General
Description
Manipulator weight
1950 kg
Airborne noise level The sound pressure level outside < 70 dB (A) Leq (acc. to the working
space Machinery directive 89/392 EEC).
6
Rev.B
3HAC 9217-1
1 Description
1.1.2 Robot data
1954
1049
692
1840
900
1277
1235
950
400
188
922
1044
R715
304
Figure 2 View of the manipulator from the side, rear and above (dimensions in mm).
3HAC 9217-1
Rev.B
7
1 Description
1.2.1 Standards
1.2 Safety/Standards
1.2.1 Standards
The robot conforms to the following standards:
Standard
Description
EN ISO 12100 -1
Safety of machinery, terminology
EN ISO 12100 -2
Safety of machinery, technical specifications
EN 954-1
Safety of machinery, safety related parts of control systems
EN 60204
Electrical equipment of industrial machines
EN 775
Electrical equipment of industrial machines
EN 61000-6-4 (option)
EMC, Generic emission
EN 61000-6-2
EMC, Generic immunity
Standard
Description
IEC 60204-1
Electrical equipment of industrial machines
IEC 60529
Degrees of protection provided by enclosures
Standard
Description
ISO 10218
Manipulating industrial robots, safety
ISO 9409-1
Manipulating industrial robots, mechanical interface
ISO 9787
Manipulating industrial robots, coordinate systems and motions
Standard
Description
ANSI/RIA 15.06/1999
Safety Requirements for Industrial Robots and Robot Systems
ANSI/UL 1740-1998
(option)
Safety Standard for Robots and Robotic Equipment
CAN/CSA Z 434-03
(option)
Industrial Robots and Robot Systems - General Safety Requirements
The robot complies fully with the health and safety standards specified in the EEC’s
Machinery Directives.
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.
8
Rev.B
3HAC 9217-1
1 Description
1.2.1 Standards
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 Center 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.
3HAC 9217-1
Rev.B
9
1 Description
1.2.1 Standards
Delayed safeguarded space stop
A delayed stop gives a smooth stop. The robot stops in the same way as at a normal
program stop with no deviation from the programmed path. After approx. 1 second
the power supplied to the motors shuts off.
Restricting the working space
The movement of each axis can be restricted using software limits.
Axes 1-3 can also be restricted by means of mechanical stops (option).
Hold-to-run control
“Hold-to-run” means that you must depress the start button in order to move the
robot. When the button is released the robot will stop. The hold-to-run function
makes program testing safer.
Fire safety
Both the manipulator and control system comply with UL’s (Underwriters Laboratories) tough requirements for fire safety.
Safety lamp (option)
As an option, the robot can be equipped with a safety lamp mounted on the manipulator. This is activated when the motors are in the MOTORS ON state.
10
Rev.B
3HAC 9217-1
1 Description
1.3.1 Introduction
1.3 Installation
1.3.1 Introduction
General
The IRB 640 is designed for floor mounting. An end effector of max. weight 160 kg,
including payload, can be mounted on the mounting flange (axis 6). Load diagram,
see 1.3.4 Load diagram.
Extra loads (valve packages) can be mounted on the upper arm. An extra load can
also be mounted on the frame of axis 1.
Holes for mounting extra equipment see 1.3.5 Mounting equipment..
The working range of axes 1-3 can be limited by mechanical stops. Position switches
can be supplied on axis 1 and axis 2 for position indication of the manipulator.
1.3.2 Operating requirements
Protection standards
Description
Protection standard IEC529
Manipulator
IP54
Wrist
IP55
Explosive environments
The robot must not be located or operated in an explosive environment.
Ambient temperature
Description
Temperature
Manipulator during operation
+5°C (41°F) to +45°C (113°F)
Complete robot during transporta- -25°C (-13°F) to +55°C (131°F)
tion and storage
for short periods (not exceeding
24 hours
up to +70°C (158°F)
Description
Relative humidity
Relative humidity
Complete robot during transporta- Max. 95% at constant temperature
tion and storage
Complete robot during operation
3HAC 9217-1
Rev.B
Max. 95% at constant temperature
11
1 Description
1.3.3 Mounting the manipulator
1.3.3 Mounting the manipulator
Maximum load in relation to the base coordinate system.
Endurance load in operation
Max. load at emergency stop
Force xy
± 12000 N
± 18000 N
Force z
21000 ± 5500 N
- 21000 ± 10000 N
Torque xy
± 32000 Nm
± 39000 Nm
Torque z
± 6000 Nm
± 13000 Nm
Y
Ø 0.2 (3x)
D=48 (3x)
D=32 (3x)
415.7
720
100 ±0,5
Z
X
+2
D=64 H9 (3x)
A
15 0
A
(A) D=85 (3x)
480 ±0.1
A-A
Figure 3 Hole configuration (dimensions in mm).
12
Pos
Description
A
Support surface
Rev.B
3HAC 9217-1
1 Description
1.3.4 Load diagram
1.3.4 Load diagram
Illustration
0,1
0,2
0,3
0,4
L (m)
0,1
0,2
0,3
0,4
160 kg
150 kg
0,5
125 kg
100 kg
0,6
75 kg
0,7
Z (m)
Figure 4 Maximum weight permitted for load mounted on the mounting flange at different positions (center
of gravity).
Description
The load diagram is valid for J0 = the maximum component (JX0, JY0, JZ0) of the moment of
J0 <100 kgm2.
inertia of the handling weight at its center of gravity.
3HAC 9217-1
Rev.B
13
1 Description
1.3.5 Mounting equipment
1.3.5 Mounting equipment
Extra loads can be mounted on the upper arm and the frame. Definitions of distances
and masses are shown in Figure 5 (upper arm) and in Figure 6 (frame).
The robot is supplied with holes for mounting extra equipment (see Figure 7).
Upper arm
Permitted extra load on upper arm plus the maximum handling weight. See Figure 5.
Description
M1 d 35 kg with distance a d 500 mm Center of gravity in axis 3 extension.
M2 d 35 kg with distance b d 400 mm
If the handling weight is lower than the maximum weight, the upper arm load can be
increased.
For example, if the handling weight is only 120 kg, which is 40 kg less than max.
handling capacity, you can put additional 40 kg on top of M1 or M2 on the upper arm.
These “additional 40 kg” can be mounted in any of the holes for extra equipment.
The upper arm load should then be defined in the software as one mass.
It is important that this is done correctly to ensure that the robot’s motions remain
perfect.
For more information, see User’s Guide - System Parameters.
M2
M1
M1
b
a
(A)
(B)
Figure 5 Permitted extra load on upper arm.
14
Pos
Description
A
Holes for extra equipment. Measurement see Figure 7.
Rev.B
3HAC 9217-1
1 Description
1.3.5 Mounting equipment
Frame (Hip Load)
Permitted extra load on frame
JH = 120 kgm2.
Recommended position see Figure 6
JH = JH0 + M4 x R2
where:
JH0 is the moment of inertia of the equipment.
R is the radius (m) from the center of axis 1.
M4 is the total mass (kg) of the equipment including
bracket and harness (d 320 kg).
362
(A)
(B)
Figure 6 Extra load on frame of IRB 640 (dimensions in mm).
Pos
Description
A
M4 JH0
B
R around axis 1
Note! Hip load can only be mounted on the robot’s left side.
Forklift device on the right side must be dismounted before using the robot.
3HAC 9217-1
Rev.B
15
1 Description
1.3.5 Mounting equipment
126
200
99
230
(D)
45
(A)
260
130
(B)
(C)
35 100
80
60 69
220
(E)
411
486
Figure 7 Holes for mounting extra equipment (dimensions in mm).
Pos
Description
A
M10 (2x) depth 25
B
M10 (2x) through
C
Limit for M10 surfaces
D
M10 (4x) through
E
Limit for M10 surfaces
(A)
30º
8
(B)
D=80 H7
D=160 h7
60º
D=125
F -F
8
Figure 8 The mechanical interface (mounting flange) ISO 9409-1-A125 (dimensions in mm).
16
Pos
Description
A
D=10 H7 depth 10
B
M10 (6x) depth 18
Rev.B
3HAC 9217-1
1 Description
1.4.1 Introduction
1.4 Maintenance and Troubleshooting
1.4.1 Introduction
General
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.
•
Liquid grease or 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 following maintenance is required:
•
Changing grease and oil every third year.
•
Changing batteries every third year.
•
Some additional checks every year.
The maintenance intervals depends on the use of the robot. For detailed information
on maintenance procedures, see Maintenance section in the Product manual.
3HAC 9217-1
Rev.B
17
1 Description
1.5.1 Introduction
1.5 Robot Motion
1.5.1 Introduction
General
Type of motion
Range of movement
Axis 1 Rotation motion
+180° to -180°
Axis 2 Arm motion
+70° to -70°
Axis 3 Arm motion
+85° to -28°
Axis 6 Turn motion
+300° to -300°
Z
-3
Pos 6
-2
+3
Pos 1
+6
+2
Pos 2
-6
2310
2/3
TCP 0
Pos 5
+1
Pos 3
599
-1
Pos 4
1220
2905
Figure 9 The extreme positions of the robot arm.
18
Rev.B
3HAC 9217-1
1 Description
1.5.2 Velocity
Pos no.
Positions at
TCP 0 (mm)
X
Positions at
TCP 0 (mm)
Z
axis 2 (
0
2028
1536
0°
0°
1
999
1685
-70°
-28°
2
1139
1053
-70°
-5°
3
761
-31
40°
85°
4
1328
-599
70°
85°
5
2905
770
70°
5°
6
2464
2119
37°
-28°
2)
D[LV Description
Angle 2/3 ( 2/ Min. 25º
Max. 155º
90° at pos. 0
Axis no.
Values
1
125º/s
2
125º/s
3
125º/s
6
275º/s
1.5.2 Velocity
There is a supervision function to prevent overheating in applications with intensive
and frequent movements.
Resolution
Approx. 0.01o on each axis.
3HAC 9217-1
Rev.B
19
1 Description
1.6.1 Signal connections on robot arm
1.6 Signals
More information of signals on upper arm see 1.6.1 Signal connections on robot arm.
1.6.1 Signal connections on robot arm
Signals
Description
Signals
23
50 V, 250 mA
Power
10
250 V, 2 A
Air
1
Max. 10 bar, inner hose diameter 11 mm
DeviceNet
Description
Signals
12
50 V, 250 mA
Power
5
250 V, 2 A
Air
1
Max. 10 bar, inner hose diameter 11 mm
Customer Power
Vacuum
(option 96-1)
20
Description
Power
6
Protective earth
2
400 V, 4 A
Rev.B
3HAC 9217-1
2 Specification of Variants and Options
2.1.1 General
2 Specification of Variants and Options
2.1 Introduction
2.1.1 General
The different variants and options for the IRB 640 are described below.
The same numbers are used here as in the Specification form. For controller options,
see Product specification - Controller S4Cplus, and for software options, see Product
specification - Controller software RobotWare Options.
2.1.2 Manipulator
Variant
Option
Description
435-39
IRB 640
Option
Description
209-1
The manipulator is painted with ABB orange.
209-4-192
Colors according to RAL-codes.
209-3
ABB white Flex Palletizer.
Manipulator color
Application interface
Air supply and signals for extra equipment to upper arm.
Option
Description
051 Standard
Integrated hose for compressed air. There is an inlet at the base (see
Figure 10) and an outlet on the tilthouse (see ). Connections: R1/2”.
For connection of extra equipment on the manipulator, there are cables integrated
into the manipulator’s cabling and two connectors:
3HAC 9217-1
•
one Burndy 23-pin UTG 018-23S
•
one Burndy 12-pin UTG 014-12S
Rev.B
21
2 Specification of Variants and Options
2.1.2 Manipulator
Option
Description
17-1 DeviceNet
Integrated hose for compressed air. There is an inlet at the base (see
Figure 10) and an outlet on the tilthouse (see ). Connections: R1/2”.
For connection of extra equipment on the manipulator there is a CAN cable (length
from the hole on the upper arm: 645 mm) integrated into the manipulator’s cabling.
The connectors are:
•
one Burndy 23-pin (12 available) UTG 018-23S
•
one Burndy 12-pin (5 available) UTG 014-12S
•
one CAN DeviceNet 5-pole female connector (Ø 1”)
Connection of signals to
Option
Description
16-2 Manipulator
The signals are connected directly to the robot base to one
Harting 40-pin connector. The cables from the manipulator base are
not supplied.
16-1 Cabinet
The signals are connected to 12-pole screw terminals,
Phoenix MSTB 2.5/12-ST-5.08, in the controller. The cable between
R1.CP/CS and the controller is supplied.
Connectors type
Type of fieldbus connectors on the upper arm:
Option
Description
17-1 DeviceNet
5-pin “Mini” style female contact with 7/8-16 UN-2A THD female
connection thread.
Meets ANSI/B93.55M-1981 design and intermateability requirements
Connection to cabinet (cable length)
Standard:
Option
Description
94-1
7m
94-2
15 m
94-3
22 m
94-4
30 m
DeviceNet:
22
Option
Description
90-2
7m
90-3
15 m
90-4
22 m
90-5
30 m
Rev.B
3HAC 9217-1
2 Specification of Variants and Options
2.1.2 Manipulator
Customer power vacuum
Option
Description
96-1
Cabling from the manipulator’s base to the left side of the frame (for
connection with a vacuum pump, see Figure 10).
On the base one Burndy 23 pin UTG 018-23S. On the left side of the
manipulator’s frame the cable ends with six wires + two protective
earth.
(A)
(B)
(C)
(D)
(E)
Figure 10 Connections at the manipulator base.
3HAC 9217-1
Pos
Description
A
Option 96-1 R1.CPV
B
Air R1/2”
C
Option 17-5 R1.CP/CS
D
Option 96-1 R1.CPV
E
DeviceNet connection (option 17-1) R1.CB
Rev.B
23
2 Specification of Variants and Options
2.1.2 Manipulator
(A)
(B)
Figure 11 Connection of signals on the upper arm.
Pos
Description
A
DeviceNet connection (option 17-1)
B
CP/CS (option 17-5)
Option
Description
213-1
Safety lamp
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.
159-1
Fork lift device
Lifting device on the manipulator for fork-lift handling is mounted at
delivery.
Lifting eyes for use with an overhead crane are integrated as standard.
Equipment
50-1
Protective cover over push-buttons on brake release unit.
Brake release cover
Position switch
Position switches indicating the position of one or two of the main axes. Rails with
separate adjustable cams are attached to the manipulator. The cams, which have to be
adapted to the switch function by the user, can be mounted in any position in the
working range for each switch.
The position switch device is delivered as a kit to be assembled when installing the
robot. Assembly instruction is included.
Note! This option may require external safety arrangements, e.g. light curtains, photocells
or contact mats.
Note! The switches are not recommended to be used in severe environment with sand or
chips.
1, 2 or 3 switches indicating the position of axis 1.
24
Type
Description
Switch type
Telemecanique XCK-M1/ZCK-D16, 2 pole N/C + N/O, according to
IEC 947-5-1.
Rev.B
3HAC 9217-1
2 Specification of Variants and Options
2.1.2 Manipulator
Option
Description
25-2
1 switch, axis 1
25-4
2 switches, axis 1
25-3
3 switches, axis 1
30-1
1 switch, axis 2
(A)
(B)
Figure 12 Connection of position switch cable to the base.
Pos
Description
A
R1.SW
B
Air R 1/2”
Option
Description
271-2
Manipulator
Connection on the manipulator base with one
FCI 23-pin connector.
271-1
Cabinet
The signals are connected to 12-pole screw
terminals, Phoenix MSTB 2.5/12-ST-5.08, in
the controller. The cable between the
manipulator base R1.SW and the controller, is
included.
Connection to
Connection of signals (Cable lengths)
3HAC 9217-1
Option
Description
273-1
7m
273-2
15 m
273-3
22 m
273-4
30 m
Rev.B
25
2 Specification of Variants and Options
2.1.2 Manipulator
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.
26
Option
Description
28-1
Axis 1
2 stops which allow the working range to be
restricted in any increment of 20°.
32-1
Axis 2
6 stops which allow the working range to be
restricted in increments of 20°. Each stop
decreases the motion by 20°. This means that
the motion can be decreased by 6 x 20° from the
maximum axis motion.
34-1
Axis 3
6 stops which allow the working range to be
restricted in increments of 20°. Each stop
decreases the motion by 20°. This means that
the motion can be decreased by 6 x 20° from the
maximum axis motion.
Rev.B
3HAC 9217-1
3 Accessories
3 Accessories
There is a range of tools and equipment available, specially designed for the
robot.
Basic software and software options for robot and PC
For more information, see Product specification - Controller S4Cplus, and
Product specification - Controller software RobotWare Options.
Robot Peripherals
3HAC 9217-1
•
Track Motion
•
Tool System
•
Motor Units
Rev.B
27
3 Accessories
28
Rev.B
3HAC 9217-1
Index
A
accessories, 27
air supply, 21
C
cooling device, 6
E
emergency stop, 9
enabling device, 9
equipment
mounting, 14
permitted extra load, 14
extra equipment
connections, 21
delayed, 10
safety, 8
Safety lamp, 24
safety lamp, 10
service, 17
service position indicator, 24
signal connections, 21
space requirements, 6
standards, 8
structure, 5
T
temperature, 11
troubleshooting, 17
V
F
variants, 21
Fire safety, 10
fork lift device, 24
W
H
hold-to-run control, 10
humidity, 11
weight, 6
Working range limit, 26
working space
restricting, 10, 11
I
installation, 11
L
load, 11, 12
M
maintenance, 17
mechanical interface, 16
motion, 18
mounting
extra equipment, 14
robot, 12
mounting flange, 16
N
noise level, 6
O
operating requirements, 11
options, 21
overspeed protection, 9
P
payload, 11
position switch, 24
R
range of movement, 18
reduced speed, 9
Robot Peripherals, 27
S
safe manual movement, 9
safeguarded space stop, 9
3HAC 9217-1
Rev.B
29
Index
30
Rev.B
3HAC 9217-1
3HAC 9217-1, Revision B, en
ABB Automation Technologies AB
Robotics
S-721 68 VÄSTERÅS
SWEDEN
Telephone: +46 (0) 21 344000
Telefax:
+46 (0) 21 132592
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