Product specification
Product specification
Controller
S4Cplus
M2000
Product specification
Robot Controller
S4Cplus
M2000
3HAC 9039-1
Revision 7
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
7
1.1 Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.2 Safety/Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
Health and safety standards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Safety system based on a two-channel circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Safety category 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Selecting the operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Reduced speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Three position enabling device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Safe manual movement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Over-speed protection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Emergency stop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Safeguarded space stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Delayed safeguarded space stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Collision detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Restricting the working space . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Hold-to-run control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Fire safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.3 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Portable teach pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Deflection of the joystick . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
User tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Motors on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Operating mode selector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
External mounting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Remote control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.4 Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18
Available memory. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
DRAM memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Flash disk memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Installation of different systems in the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
RAPID memory consumption. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Additional software options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.5 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20
Configuration for the corresponding manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Operating requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Power supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Rated power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Recommended max line fusing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Computer system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
1.6 Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Programming environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Movements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
The velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Program management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Editing programs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Change of robot position. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Testing programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
1.7 Automatic Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Service position. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Special routines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Absolute measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3HAC 9039-1
Rev.7
3
Table of Contents
1.8 The RAPID Language and Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
1.9 Exception handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
1.10 Maintenance and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Easy to service. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Error detection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
1.11 Robot Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
QuickMoveTM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
TrueMoveTM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Coordinate systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
1.12 External Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
AC motor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Absolute position. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
External axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
1.13 I/O System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Input and output units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
I/O Plus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Configuration of inputs and outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
PLC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Available manual functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Types of connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
ABB I/O units (node types). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Distributed I/O. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Permitted customer load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Digital inputs 24 V DC (option 61-1/58-1/63-1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Digital outputs 24 V DC (option 61-1/58-1). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Relay outputs (option 63-1). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Digital inputs 120 V AC (option 60-1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Digital outputs 120 V AC (option 60-1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Analog inputs (option 54-1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Analog outputs (option 54-1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Analog outputs (option 58-1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
System signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
1.14 Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
4
Rev.7
3HAC 9039-1
Table of Contents
2 Specification of Variants and Options
43
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
2.2 Safety Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43
EU - Electromagnetic Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Underwriters Laboratories Inc. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
2.3 Control System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Cabinet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Cabinet Height . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Cabinet on wheels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Operator´s panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Operator´s panel cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Door lock insert. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Operating mode selector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Controller cooling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Teach Pendant. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Mains voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
IRB 6600, IRB 6650, IRB 7600 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
IRB 140, IRB 1400, IRB 2400, IRB 4400, IRB 6400, IRB 340, IRB 640, IRB 940 . . . . . . . . . . . . . . . . 49
Mains connection type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Mains switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
I/O Interfaces. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Inputs/outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Connection of I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Safety signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Field bus and communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Variants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Gateway units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
External I/O units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
External gateway units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
External axes in robot cabinet. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Drive units. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Servo gun interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Stationary gun (SG) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Robot Gun (RG) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
One SG and one RG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Twin SG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
SG and Track Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
RG and T. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
External axes measurement board. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
External axes - separate cabinet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Motor selection table. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Drive unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Drive unit DDU-VW/DDU-V/DDU-W . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Cable length . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Protection for manipulator cable. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Service outlet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Power supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Memory. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
3HAC 9039-1
Rev.7
5
Table of Contents
6
Rev.7
3HAC 9039-1
1 Description
1.1.1 Introduction
1 Description
1.1 Structure
1.1.1 Introduction
General
The controller contains the electronics required to control the manipulator, external
axes and peripheral equipment.
The controller also contains the system software, i.e. the BaseWare OS (operating
system), which includes all basic functions for operation and programming.
Data
Description
Controller weight
Controller volume:
Airborne noise level
250 kg
950 x 800 x 620 mm
The sound pressure level outside the working space
< 70 dB (A) Leq (acc. to Machinery directive 98/37/
EEC)
Teach pendant
Operator´s panel
Mains switch
Disk drive
Figure 1 The controller is specifically designed to control robots, which means that optimal performance
and functionality is achieved.
3HAC 9039-1
Rev.7
7
1 Description
1.1.1 Introduction
Air distance to wall
200
200
800
Figure 2 View of the controller from above (dimensions in mm).
8
Rev.7
3HAC 9039-1
1 Description
1.1.1 Introduction
800
820
250
950
980 *
Lifting points
for forklift
* Castor wheels, Option 126
Cabinet extension
Option 64-3
Extended cover
Option 64-1
500
260
500
71
52
623
Figure 3 View of the controller from the front and from the side (dimensions in mm).
3HAC 9039-1
Rev.7
9
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 204-1
Electrical equipment of industrial machines
IEC 529
Degrees of protection provided by enclosures
Standard
Description
ISO 10218
Manipulating industrial robots, safety
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
Health and safety
standards
The robot complies fully with the health and safety standards specified in the EEC’s
Machinery Directives.
Safety system
based on a twochannel circuit
The robot controller 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
10
Rev.7
3HAC 9039-1
1 Description
1.2.1 Standards
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 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.
3HAC 9039-1
Rev.7
11
1 Description
1.2.1 Standards
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 controller 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 a normal
program stop with no deviation from the programmed path. After approx. 1 second
the power supplied to the motors shuts off.
Collision
detection
In case an unexpected mechanical disturbance like a collision, electrode sticking, etc.
occurs, the robot will stop and slightly back off from its stop position.
Restricting the
working space
The movement of each axis can be restricted using software limits.
There are safeguarded space stops for connection of limit switches to restrict the
working space.
For some robots the axes 1-3 can also be restricted by means of mechanical stops.
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
Laboratory) tough requirements for fire safety.
12
Rev.7
3HAC 9039-1
1 Description
1.3.1 Teach pendant
1.3 Operation
1.3.1 Teach pendant
General
All operations and programming can be carried out using the portable teach pendant
(see Figure 4) and operator’s panel (see Operating mode selector).
Menu keys
Motion keys
Display
P5
P4
7
4
1
Window
keys
1
2
8
5
2
0
9
6
3
Joystick
P2
P1
P3
Function keys
Cable 10 m
Navigation keys
Emergency stop
button
Hold-to-run
Enabling
device
Figure 4 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 operations can be carried out from the teach pendant,
which means that an additional keyboard is not required. All information, including the
complete programming language, is in English or, if preferred, some other major language. (Available languages, see options for Teach Pendant Languages in Specification of Variants and Options )
3HAC 9039-1
Rev.7
13
1 Description
1.3.1 Teach pendant
Portable teach
pendant
Features
Description
Display
Displays all information during programming, to change programs, etc.
16 text lines with 40 characters per line.
Motion keys
Select the type of movement when jogging.
Navigation keys
Used to move the cursor within a window on the display and enter data.
Menu keys
Display pull-down menus, see Figure 5.
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:
Jog (manual operation)
Program, edit and test a program
Manual input/output management
File management
System configuration
Service and troubleshooting
Automatic operation
User-defined keys
(P1-P5)
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.
Hold-to-run
A push button which must be pressed when running the program in
manual mode with full speed.
Enabling device
A push button which, 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 taken to the MOTORS OFF state.
Joystick
The joystick is used to jog (move) the robot manually; e.g. when programming the robot.
Emergency stop
button
The robot stops immediately when the button is pressed in.
Menu keys
File
Edit
View
1 Goto ...
Inputs/Outputs
2 Goto Top
3 Goto Bottom
Name
Value
I/O list
di1
di2
grip1
grip2
clamp3B
feeder
progno
1
1
0
1
0
1
1
13
Menu
4(6)
Line indicator
Cursor
0
Function keys
Figure 5 Window for manual operation of input and output signals.
14
Rev.7
3HAC 9039-1
1 Description
1.3.1 Teach pendant
Deflection of the
joystick
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.
User tasks
The robot supports different user tasks, with dedicated windows for:
3HAC 9039-1
•
Production
•
Programming
•
System setup
•
Service and installation
Rev.7
15
1 Description
1.3.2 Operator’s panel
1.3.2 Operator’s panel
MOTORS ON button
and indicating lamp
Operating mode
selector
Emergency stop
If pressed in,
pull to release
Duty time counter
Indicates the operating time for
the manipulator (released brakes)
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 revo- The motors have been
lution counters are not updated
switched on
Slow flashing light (1 Hz)
One of the safeguarded space stops is The motors have been
active
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.)
As optional
Description
Manual mode at full speed
Testing at full program speed
Signs
100%
16
Rev.7
3HAC 9039-1
1 Description
1.3.2 Operator’s panel
Equipped with this mode, the robot is not approved according to ANSI/UL.
The operating mode is selected using the operator’s panel on the controller.
External
mounting
Both the operator’s panel and the teach pendant can be mounted externally, i.e.
separated from the cabinet. The robot can then be controlled from there.
Remote control
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.
3HAC 9039-1
Rev.7
17
1 Description
1.3.2 Operator’s panel
1.4 Memory
Available memory
DRAM memory
The controller has two different memories:
Memory
Size
Usage
Fixed DRAM memory
32 MB
working memory
Flash disk memory
64 MB, standard
mass memory
Flash disk memory
128 MB, optional
mass memory
The DRAM memory is used for running the system software and the user programs
and it is thus divided into three areas:
DRAM memory
Size
Option
System software
System software execution
data
User RAPID
see Figure 6
Flash disk
memory
5.5 MB
0.7 MB (at most)
when installing different options, the user
program memory will decrease
The flash disk is divided into four main areas:
Main areas
Size
Description
Base area
5 MB
permanent code for booting
Release area
20 MB
the code for a specific release is stored
System specific data 10 MB
area
the run time specific data including the user program for a system is stored at backup
User mass memory
area
can be used for storing RAPID programs, data,
logs etc
The flash disk is used for backup, i.e. when a power failure occurs or at power off,
all the system specific data including the user program, see Figure 6, will be stored
on the flash disk and restored at power on. A backup power system (UPS) ensures
the automatic storage function.
18
Rev.7
3HAC 9039-1
1 Description
1.3.2 Operator’s panel
Flash disk memory
64/128 MB
DRAM memory
32 MB
System software
Boot 5 MB
Data
Release storage
20 MB
System data/user program 10 MB
User RAPID
program 5.5 MB
Power on restore
Mass memory area
available for the user
Power off store
Figure 6 Available memory.
Installation of
different systems
in the controller
Several different systems, i.e. process applications, may be installed at the same time
in the controller, of which one can be active. Each such application will occupy
another 10 MB of the flash memory for system data. The release storage area will be
in common as long as the process applications are based on the same release. If two
different releases should be loaded, the release storage area must also be doubled.
RAPID memory
consumption
For RAPID memory consumption, see RAPID Developer’s Manual. As an example,
a MoveL or MoveJ instruction consumes 236 bytes when the robtarget is stored in
the instruction (marked with ‘*’) and 168 bytes if a named robtarget is used. In the
latter case, the CONST declaration of the named robtarget consumes an additional
280 bytes.
Additional
software options
Additional software options will reduce the available user program memory, most of
them however only marginally, i.e. the user program area will still be about 5.5 MB.
Only the SpotWare option will reduce memory significantly, i.e. down to about 4.8
MB depending on the number of simultaneous welding guns.
3HAC 9039-1
Rev.7
19
1 Description
1.3.2 Operator’s panel
1.5 Installation
Configuration for
the
corresponding
manipulator
The controller is delivered with a standard configuration for the corresponding
manipulator, and can be operated immediately after installation. Its configuration is
displayed in plain language and can easily be changed using the teach pendant.
Operating
requirements
Requirements
Description
Protection standard IEC529
Controller electronics IP54
Explosive environments
The controller must not be located or operated in an
explosive environment.
Ambient temperature during oper- option 85-1: +5oC (+41oF) to +45oC (+113oF)
ation
option 85-2: +52oC (+125oF)
Ambient temperature during trans- -25oC (-13oF) to +55oC (+131oF)
portation and storage
For short periods (not exceeding 24 hours) up to +70oC
(+158oF)
Relative humidity transportation,
storage and operation
Max. 95% at constant temperature
Vibration during transportation and 0-55 Hz: Max. ±0.15 mm
storage
55-150 Hz: Max. 20 m/s2
Bumps during transportation and
storage
Max. 100 m/s2 (4-7 ms)
Power supply
Description
Value
Mains voltage
200-600 V, 3ph (3ph + N for certain options)
Mains voltage tolerance
+10%, -15%
Mains frequency
48.5 to 61.8 Hz
Rated power
Robot
20
Values
IRB 140, 1400, 2400
standard
4.5 kVA (transformer size)
IRB 140, 1400, 2400
external axes
8.3 kVA (transformer size)
IRB 340, 4400, 640, 6400, 940
8.3 kVA (transformer size)
IRB 6600-225/2.55
6 kVA (ISO 9283)
IRB 7600-400/2.55
7.1 kVA (ISO 9283)
Rev.7
3HAC 9039-1
1 Description
1.3.2 Operator’s panel
Recommended
max line fusing
Recommended line fusing (if not included as optional circuit breaker).
Robot
Voltage
Description
IRB 140-940
at 400-600V
3x16A slow-blowing
at 200-220V
3x25A slow-blowing
at 400-600V
3x25A slow-blowing
at 200-220V
3x35A slow-blowing
IRB 6600-7600
Computer system
Configuration
Description
Value
Backup capacity at power interrupt
20 sec (rechargeable battery)
The robot is very flexible and can, by using the teach pendant, easily be configured
to suit the needs of each user:
User needs
Description
Authorisation
Password protection for configuration and program window
Most common I/O
User-defined lists of I/O signals
Instruction pick list
User-defined set of instructions
Instruction builder
User-defined instructions
Operator dialogs
Customised operator dialogs
Language
All text on the teach pendant can be displayed in several
languages
Date and time
Calendar support
Power on sequence
Action taken when the power is switched on
EM stop sequence
Action taken at an emergency stop
Main start sequence
Action taken when the program is starting from the beginning
Program start sequence
Action taken at program start
Program stop sequence
Action taken at program stop
Change program sequence
Action taken when a new program is loaded
Working space
Working space limitations
External axes
Number, type, common drive unit, mechanical units
Brake delay time
Time before brakes are engaged
I/O signal
Logical names of boards and signals, I/O mapping,
cross connections, polarity, scaling, default value at
start up, interrupts, group I/O
Serial communication
Configuration
For a detailed description of the installation procedure, see the Product Manual Installation and Commissioning.
3HAC 9039-1
Rev.7
21
1 Description
1.3.2 Operator’s panel
1.6 Programming
General
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”.
Programming
environment
The programming environment can be easily customized 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 (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.
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.
The exact position can be defined (see Figure 7) 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.
Fly-by point
Stop point
User-definable distance (in mm)
Figure 7 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
The velocity may be specified in the following units:
Units
Velocity
mm/s
22
seconds
time it takes to reach the next programmed position
degrees/s
for reorientation of the tool or for rotation of an external axis
Rev.7
3HAC 9039-1
1 Description
1.3.2 Operator’s panel
Program
management
For convenience, the programs can be named and stored in different directories.
The mass memory can also be used for program storage. These 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 diskette.
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, find and change, undo 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.
Change of robot
position
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 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 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.
3HAC 9039-1
Rev.7
23
1 Description
1.3.2 Operator’s panel
1.7 Automatic Operation
General
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 8 The operator dialogs can be easily customised.
Service position
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.
Special routines
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.
Absolute
measurement
The robot is equipped with absolute measurement, making it possible to operate the
robot directly 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 be
easily restarted from where you left off. Digital outputs are also set automatically to
the value prior to the power failure.
24
Rev.7
3HAC 9039-1
1 Description
1.3.2 Operator’s panel
1.8 The RAPID Language and Environment
General
The RAPID language is a well balanced combination of simplicity, flexibility and
powerfulness. It contains the following concepts:
•
Hierarchical and modular program structure to support structured programming and
reuse.
•
Routines can be Functions or Procedures.
•
Local or global data and routines.
•
Data typing, including structured and array data types.
•
User defined names (shop floor language) on variables, routines and I/O.
•
Extensive program flow control.
•
Arithmetic and logical expressions.
•
Interrupt handling.
•
Error handling (for exception handling in general, see Exception handling).
•
User defined instructions (appear as an inherent part of the system).
•
Backward handler (user definition of how a procedure should behave when stepping
backwards).
•
Many powerful built-in functions, e.g mathematics and robot specific.
•
Unlimited language (no max. number of variables etc., only memory limited).
Windows based man machine interface with built-in RAPID support (e.g. user
defined pick lists).
1.9 Exception handling
General
3HAC 9039-1
Many advanced features are available to make fast error recovery possible.
Characteristic is that the error recovery features are easy to adapt to a specific
installation in order to minimise down time. Examples:
•
Error Handlers (automatic recovery often possible without stopping
production).
•
Restart on Path.
•
Power failure restart.
•
Service routines.
•
Error messages: plain text with remedy suggestions, user defined messages.
•
Diagnostic tests.
•
Event logging.
Rev.7
25
1 Description
1.3.2 Operator’s panel
1.10 Maintenance and Troubleshooting
Easy to service
Error detection
The controller requires only a minimum of maintenance during operation. It has been
designed to make it as easy to service as possible:
•
The controller is enclosed, which means that the electronic circuitry is protected when
operating in a normal workshop environment.
•
There is a supervision of temperature, fans and battery health.
The controller has several functions to provide efficient diagnostics and error reports:
•
It performs a self-test when power on is set.
•
Computer status LEDs and console (serial channel) for fault tracing support.
•
Errors are indicated by a message displayed in plain language.
The message includes the reason for the fault and suggests recovery action.
•
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 teach pendant display, stored in a file or printed on a printer.
•
There are commands and service programs in RAPID to test units and functions.
•
LEDs on the panel unit indicate status of the safeguarded switches.
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.
For detailed information on maintenance procedures, see Maintenance section in the
Product Manual.
1.11 Robot Motion
QuickMoveTM
26
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.
Rev.7
3HAC 9039-1
1 Description
1.3.2 Operator’s panel
TrueMoveTM
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.
This very accurate path and speed is based on advanced dynamic modelling.
Coordinate
systems
BaseWare includes a very powerful concept of multiple coordinate systems that
facilitates jogging, program adjustment, copying between robots, off-line
programming, sensor based applications, external axes co-ordination etc. Full
support for TCP (Tool Center Point) attached to the robot or fixed in the cell
(“Stationary TCP”).
Tool Center Point (TCP)
Y
Tool coordinates
Z
X
Z
Y
Base coordinates
X
Z
Z
Z User
coordinates
Y
Object
coordinates
Y
Y
X
World coordinates
X
X
Figure 9 The coordinate systems, used to make jogging and off-line programming easier.
3HAC 9039-1
Rev.7
27
1 Description
1.3.2 Operator’s panel
Base coordinates
Y
Axis 3
Z
X
Axis 1
Z
Y
X
Y
Tool coordinates
World coordinates
Z
Tool Center Point (TCP)
X
Figure 10 The coordinate systems, used to make jogging and off-line programming easier
Z
Axis 2
Axis 3
Y
Y
World coordinates
Axis 1
X
X
Figure 11 The coordinate systems, used to make jogging and off-line programming easier.
.
28
System
Description
World coordinate system
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.
Base coordinate system
The base coordinate system is attached to the base mounting surface of the robot.
Tool coordinate system
The tool coordinate system specifies the tool’s center point
and orientation.
User coordinate system
The user coordinate system specifies the position of a fixture or workpiece manipulator.
Rev.7
3HAC 9039-1
1 Description
1.3.2 Operator’s panel
3HAC 9039-1
System
Description
Object coordinate system
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
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.
Location
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.
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 additional axes can be displayed on the teach pendant.
Singularity handling
The robot can pass through singular points in a controlled
way, i.e. points where two axes coincide.
Motion supervision
Very flexible possibilities to configure external axes.
Includes for instance high performance coordination with
robot movement and shared drive unit for several axes.
External axes
Very flexible possibilities to configure additional motors.
Includes, for instance, high performance coordination with
robot movement and shared drive unit for several motors.
Rev.7
29
1 Description
1.3.2 Operator’s panel
System
Description
Big Inertia
One side effect of the dynamic model concept is that the
system can handle very big load inertias by automatically
adapting the performance to a suitable level. For big, flexible
objects it is possible to optimise the servo tuning to minimize
load oscillation.
Soft Servo
Any motors (also additional) can be switched to soft servo
mode, which means that it will adopt a spring-like behaviour.
1.12 External Axes
General
The controller 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.
Description
AC motor
Absolute position
Mechanical units
The external axes can be grouped into mechanical units to facilitate, for example, the handling of robot carriers, workpiece manipulators, etc.
Coordination
The robot motion can be simultaneously coordinated with for example, a linear robot carrier and a work piece positioner.
Activate/Deactivate
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 share the same drive unit.
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.
Specification
Description
Resolver
Connected directly to motor shaft
Transmitter type resolver
Voltage ratio 2:1 (rotor: stator)
Resolver supply
5.0 V/4 kHz
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 12.
For more information on how to install an external axis, see the User’s Guide - External
Axes
30
Rev.7
3HAC 9039-1
1 Description
1.3.2 Operator’s panel
External axes
3HAC 9039-1
Robot type
Description
IRB 4400 and IRB 6400X
When more than one external axis is used, the drive
units for external axis 2 and upwards must be located
in a separate cabinet as shown in Figure 12.
IRB 140, IRB 1400, and
IRB 2400
When more than three external axes are used, the
drive units for external axis 4 and upwards must be
located in a separate cabinet as shown in Figure 12.
IRB 6600 and IRB 7600
The drive units for all external axes must be located in
a separate cabinet as shown in Figure 12.
Rev.7
31
1 Description
1.3.2 Operator’s panel
Motor channel
Serial signals for
measurement and
drive system
Not supplied on delivery
Single External Axes
SMB
Measurement
System 1
Not supplied on delivery
Multiple External Axes
SMB
alt.
Drive
System 2
Measurement
System 2
ABB Drives
Figure 12 Outline diagram, external axes.
32
Rev.7
3HAC 9039-1
1 Description
1.3.2 Operator’s panel
1.13 I/O System
General
A distributed I/O system is used, based on the fieldbus standard CAN/DeviceNet.
This 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.
Two independent CAN/DeviceNet buses allow various conditions of I/O handling.
Both channels can be operating as master or slave. One bus, CAN1, is operating with
fixed data rate, and the other, CAN2 (accessible by the software option I/O Plus),
with different data rates.
tap
thick/thin cable
S4Cplus
multiport-tap
R
trunk line
R
node
thick/thin drop cable
node
node
I/O CPU
node
Daisy chain
node
node
node
node
R = terminating resistor
short drop cables max. 6m each
Figure 13 Example of a general DeviceNet bus.
Input and output
units
A number of different input and output units can be installed:
•
Digital inputs and outputs.
•
Analog inputs and outputs.
•
Gateway (slave) for Allen-Bradley Remote I/O.
•
Gateway (slave) for Interbus Slave.
•
Gateway (slave) for Profibus DP Slave.
I/O Plus
S4Cplus with the option I/O Plus can be configured for fieldbus units from other
suppliers. For more details see the Product Specification RobotWare Options.
Configuration of
inputs and
outputs
The inputs and outputs can be configured to suit your installation:
3HAC 9039-1
•
Each signal and unit 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.
Rev.7
33
1 Description
1.3.2 Operator’s panel
PLC
•
Sophisticated error handling.
•
Selectable “trust level” (i.e. what action to take when a unit is “lost”).
•
Program controlled enabling/disabling of I/O units.
•
Scaling of analog signals.
•
Filtering.
•
Polarity definition.
•
Pulsing.
•
TCP-proportional analog signal.
•
Programmable delays.
•
Simulated I/O (for forming cross connections or logical conditions without need the for
physical hardware).
•
Accurate coordination with motion.
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 function as a PLC by monitoring and controlling I/O signals:
Available manual
functions
•
I/O instructions are executed concurrent to 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 Multitasking option, see
Product Specification RobotWare.
•
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.
I/O signals can for some robots also be routed parallel or serial to connectors on the
upper arm of the robot.
Types of
connection
The following types of connection are available:
•
“Screw terminals” on the I/O units
•
Industrial connectors on cabinet wall
•
Distributed I/O-connections inside or on cabinet wall
For more detailed information, see Chapter 2, Specification of Variants and Options.
34
Rev.7
3HAC 9039-1
1 Description
1.3.2 Operator’s panel
ABB I/O units
(node types)
Several I/O units can be used. The following table shows the maximum number of
physical signals that can be used on each unit. Data rate is fixed at 500 Kbit/s.
Digital
Type of unit DSQC Option
In
no.
Digital I/O 24
VDC
Out
Analog
Power
Voltage Voltage Current supply
inputs output output
328
61-1
16
16
Internal/
External1
Digital I/O 120 320
VAC
60-1
16
16
Internal/
External
Analog I/O
355
54-1
AD Combi I/O 327
58-1
16
16
Relay I/O
332
63-1
16
16
Allen-Bradley
Remote I/O
Slave
350
13-1
1282
128
178-1
642
64
Interbus Slave 351
Profibus DP
Slave
352
251-1
Simulated I/O3
Encoder inter- 354
face unit4
Encoder inter- 377
face
unit5
4
128
150
79-1
2
3
2
1
Internal
Internal/
External1
Internal/
External1
128
150
30
30
1
80-1
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 Allen-Bradley
Remote I/O unit and 1for Interbus 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. Note that the maximum number of in and out are increased
to 200 from RW 4.0.40 and to 512 from RW 4.0.100
4. Dedicated for conveyor tracking only.
5. Only for PickMaster 4.0
3HAC 9039-1
Rev.7
35
1 Description
1.3.2 Operator’s panel
Distributed I/O
The maximum number of logical signals is 1024 in total for the CAN/DeviceNet
buses (inputs or outputs, group I/O, analog and digital including field buses).
Units
CAN1
CAN2 (option)
Max. total no of units
20 (including SIM units)
20
Data rate (fixed)
500 Kbit/s
125/250/500 Kbit/s
Max. total cable length
100 m trunk + 39m drop
up to 500m
Cable type (not
included)
According to DeviceNet
specification release 1.2
According to DeviceNet specification release 1.2
1
1. Max. four units can be mounted inside the cabinet. For IRB 6600/7600 with option 85-2 (+52C) the max. number is three.
Permitted
customer load
Digital inputs 24 V
DC (option 61-1/
58-1/63-1)
Load
Value
24 V DC load
max.7,5 A
Parameter
Value
Optically-isolated
Digital outputs 24
V DC (option 61-1/
58-1)
Rated voltage
24 V DC
Logical voltage levels “1”
15 to 35 V
Logical voltage levels “0”
-35 to 5 V
Input current at rated input voltage
6 mA
Potential difference
max.500 V
Time delays, hardware
5 - 15 ms
Time delays, software
≤ 3 ms
Time variations
± 2 ms
Parameter
Value
Optically-isolated, short-circuit protected,
supply polarity protection
36
Voltage supply
19 to 35 V
Rated voltage
24 V DC
Logical voltage levels: “1”
18 to 34 V
Logical voltage levels: “0”
<7V
Output current
max. 0.5 A
Potential difference
max. 500 V
Time delays: hardware
≤ 1ms
Rev.7
3HAC 9039-1
1 Description
1.3.2 Operator’s panel
Parameter
Value
Time delays: software
≤2 ms
Time variations
± 2 ms
Parameter
Value
Relay outputs
(option 63-1)
Single pole relays with one make
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
Time intervals
hardware (reset signal) typical 8 ms
Time intervals
software ≤ 4 ms
Parameter
Value
Digital inputs 120
V AC (option 60-1)
Optically isolated
Digital outputs
120 V AC (option
60-1)
Rated voltage
120 V AC
Input voltage range: “1”
90 to 140 V AC
Input voltage range: “0”
0 to 45 V AC
Input current (typical):
7.5 mA
Time intervals
hardware ≤ 20 ms
Time intervals
software ≤ 4 ms
Parameter
Value
Optically isolated, voltage spike protection
3HAC 9039-1
Rated voltage
120 V AC
Output current
max. 1A/channel, 12 A 16 channels
Output current
max. 2A/channel, 10 A 16 channels (56 A in
20 ms)
Output current
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
Rev.7
37
1 Description
1.3.2 Operator’s panel
Parameter
Value
Time intervals
software ≤ 4 ms
Analog inputs
(option 54-1)
Parameter
Description
Value
Voltage
Input voltage
+10 V
Voltage
Input impedance
>1 Mohm
Voltage
Resolution
0.61 mV (14 bits)
Accuracy
+0.2% of input signal
Analog outputs
(option 54-1)
Parameter
Description
Value
Voltage
Output voltage
+10 V
Voltage
Load impedance
min. 2 kohm
Voltage
Resolution
2.44 mV (12 bits)
Current
Output current
4-20 mA
Current
Load impedance
min. 800 ohm
Current
Resolution
4.88 µA (12 bits)
Accuracy
+0.2% of output signal
Analog outputs
(option 58-1)
Parameter
Value
Output voltage galvanically 0 to +10 V
isolated
38
Load impedance
min. 2 kohm
Resolution
2.44 mV (12 bits)
Accuracy
±25 mV ±0.5% of output voltage
Potential difference
max. 500 V
Time intervals
hardware ≤ 2.0 ms
Time intervals
software ≤ 4 ms
Rev.7
3HAC 9039-1
1 Description
1.3.2 Operator’s panel
System signals
Signals can be assigned to special system functions. Several signals can be given the
same functionality.
Digital outputs
Digital inputs
Analog output
Motors on/off
Motors on/off
TCP speed signal
Executes program
Starts program from where it is
Error
Motors on and program start
Automatic mode
Starts program from the beginning
Emergency stop
Stops program
Restart not possible
Stops program when the program
cycle is ready
Run chain closed
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
1. Program can be decided when configuring the robot.
For more information on system signals, see User´s Guide - System Parameters
3HAC 9039-1
Rev.7
39
1 Description
1.3.2 Operator’s panel
1.14 Communication
General
The controller has three serial channels for permanent use - two RS232 and one
RS422 Full duplex - which can be used for communication point to point with
printers, terminals, computers and other equipment. For temporary use, like service,
there are two more RS 232 channels.
The serial channels can be used at speeds up to 19,200 bit/s (max. 1 channel with
speed 19,200 bit/s).
The controller has two Ethernet channels and both can be used at 10 Mbit/s or 100
Mbit/s. The communication speed is set automatically.
Temporary
Main CPU console
Ethernet 10 Mbit/s
Permanent
Ethernet or serial
Figure 14 Point-to-point communication.
40
Rev.7
3HAC 9039-1
1 Description
1.3.2 Operator’s panel
The communication includes TCP/IP with intensive network configuration
possibilities like:
H
U
B
Figure 15 Network (LAN) communication.
3HAC 9039-1
Configuration
Description
DNS, DHCP etc.
Inclusion of multiple gateway
Network File System
Accesses using FTP/NFS client and FTP server
Control and/or monitoring of controllers with RAP protocol
Possibility to use OPC, ActiveX, and other APIs for
integration with Windows applications
Boot/upgrading of controller software
Via the network or a portable PC
Rev.7
41
1 Description
1.3.2 Operator’s panel
42
Rev.7
3HAC 9039-1
2 Specification of Variants and Options
2 Specification of Variants and Options
2.1 Introduction
General
The different variants and options for the controller are described below.
The same numbers are used here as in the Specification form.
For manipulator options, see Product Specification respectively, and for software
options, see Product Specification RobotWare Options.
2.2 Safety Standards
EU Electromagnetic
Compatibility
Option
Description
129-1
The controller complies with the European Union Directive “Electromagnetic Compatibility” 89/336/EEC. This option is required by law for end
users in the European Union.
Not available for controllers connected to 600 V.
Option
Description
429-1UL/CSA
The robot is certified by Underwriters Laboratory to comply with the Safety
Standard ANSI/UL 1740-1996 “Industrial Robots and Robotic Equipment”
and CAN/CSA Z 434-94. UL/UR certification is required by law in some US
states and Canada. UL (UL/CSA) means certification of complete product
and UR (UL recognized Component) means certification of component or
not complete product. Safety lamp (213-1) Door interlock (188-1, 207-1 or
207-8) Operating mode selector standard 2 modes (241-1) are mandatory.
Cabinet height 950 mm without upper cover (64-5), Cabinet height 1200
mm (64-1) Cabinet height 1750 mm (64-3), Cabinet variant Prepared for
Arcitec (66-1), Mains connection type CEE17 connector (206-3, 206-2),
Service outlet type 230V Europe (328-1).
429-2
UR(UL
Recognized)
The robot is certified by Underwriters Laboratories Inc. to comply with the
Safety Standard UL 1740 “Industrial Robots and Robotic Equipment”. UL/
UR certification is required by law in some US states and Canada. UL (UL
listed) means certification of complete product and UR (UL Recognized
Component) means certification of component or not complete product.
Safety lamp (213-1), Door interlock (188-1 or 207-1), Operating mode
selector standard 2 modes (241-1) are mandatory. Not with Cabinet variant
Prepared for Arcitec (66-1), Mains connection type CEE17 connector (2063, 206-2), Service outlet type 230V Europe (328-1).
Underwriters
Laboratories Inc.
3HAC 9039-1
Rev.7
43
2 Specification of Variants and Options
2.3 Control System
Cabinet
Cabinet Height
Variants
Option
Description
66-2
Standard cabinet with upper cover.
66-1
Prepared for Arcitec Rotary switch 80A (207-5) and Circuit breaker standard (70-2) and Arcitec 4.0 (18-1) are mandatory. Not with Wheels (67-1)
or Mains connection type CEE17 connector (206-3, 206-2) or 6HSB (2064) or Mains switch Flange disconnector (207-1) or Servo disconnector
(320-1) or UL (429-1) or UR (429-2).
Wheels are not included in height
Option
Description
64-4
Standard cabinet 950 mm with upper cover.
64-5
Standard cabinet 950 mm without upper cover. To be used when cabinet
extension is mounted on top of the cabinet after delivery. Not with Door
interlock (188-1) or UL (429-1) or UR (429-2).
64-1
Standard cabinet with 250 mm extension. The height of the cover
increases the available space for external equipment that can be mounted
inside the cabinet. Not with UL (429-1).
64-3
Standard cabinet with 800 mm extension. The extension is mounted on top
of the standard cabinet. There is a mounting plate inside. (See Figure 16).
The cabinet extension is opened via a front door and it has no floor. The
upper part of the standard cabinet is therefore accessible. Not with UL
(429-1).
20
665
9 (x4)
690
730
20
705
Figure 16 Mounting plate for mounting of equipment (dimensions in mm).
44
Rev.7
3HAC 9039-1
2 Specification of Variants and Options
Cabinet on
wheels
Operator´s panel
3HAC 9039-1
Option
Description
67-1
Cabinet on wheels. Increase the height by 30 mm. Not with Prepared for
Arcitec (66-1).
The operator’s panel and teach pendant holder can be installed in different ways.
Option
Description
242-6
Standard, i.e. on the front of the cabinet.
242-1
External, i.e. in a separate operator’s unit. (See Figure 17 for required preparation) All necessary cabling, including flange, connectors, sealing strips,
screws, etc., is supplied. External enclosure is not supplied.
242-4
External, mounted in a box. (See Figure 18)
Rev.7
45
2 Specification of Variants and Options
M4 (x4)
Required depth 200 mm
180 224 240
140
184
M8 (x4)
45o
196
193
200
Holes for
operator’s panel
223
70
62
External panel enclosure
(not supplied)
96
Holes for
flange
Teach pendant
connection
Holes for
teach pendant holder
90
5 (x2)
Connection to
the controller
155
Figure 17 Required preparation of external panel enclosure (all dimensions in mm).
M5 (x4) for fastening of box
337
Box size: W = 400
H = 300
D = 205
Connection flange
370
Figure 18 Operator’s panel mounted in a box (all dimensions in mm).
46
Rev.7
3HAC 9039-1
2 Specification of Variants and Options
Operator´s panel
cable
Option
Length
240-1
15 m
240-2
22 m
240-3
30 m
Option
Description
65-6
Standard
65-1
Doppelbart
65-5
Square outside 7 mm
65-2
EMKA DB
65-4
Locking cylinder 3524
Option
Description
241-1
Standard, 2 modes: manual and automatic.
241-2
Standard, 3 modes: manual, manual full speed and automatic.
Does not comply with UL and UR safety standards.
Door lock insert
Operating mode
selector
3HAC 9039-1
Rev.7
47
2 Specification of Variants and Options
Controller
cooling
Option
Description
85-1
Ambient temperature up to 45oC (113oF) Standard design.
The computer unit is provided with a passive heat exchanger (cooling fins
on the rear part of the box).
85-2
Ambient temperature up to 52oC (125oF).
The computer unit is provided with an active Peltier cooling equipment
(replaces the cooling fins from option 85-1).
Option
Description
370-1
Teach pendant with back lighting, connection cable 10 m.
Option
Teach Pendant Language
413-1
English
419-1
Swedish
416-1
German
415-1
French
420-1
Spanish
411-1
Danish
417-1
Italian
412-1
Dutch
410-1
Czech
414-1
Finnish
Teach Pendant
Extension cable for the teach pendant
48
Option
Length
Description
373-1
10 m
An extension cable can be connected between the controller and the teach pendant. The total length of cable
between the controller and the teach pendant should not
exceed 40 m.
Note that the length of the optional operator’s panel
cable must be included in the limitation.
373-2
20 m
Rev.7
3HAC 9039-1
2 Specification of Variants and Options
Mains voltage
IRB 6600,
IRB 6650,
IRB 7600
The control system 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.
Option
Voltage
Description
208-1
200V
External transformer is supplied, see Figure 19
208-2
220V
External transformer is supplied, see Figure 19
208-3
400V
208-4
440V
208-5
475V
208-7
500V
208-8
525V
208-9
600V
560
300
398
Figure 19 Transformer unit (dimensions in mm).
IRB 140,
IRB 1400,
IRB 2400,
IRB 4400,
IRB 6400,
IRB 340, IRB 640,
IRB 940
3HAC 9039-1
Option
Voltage
208-1
200V
208-2
220V
208-3
400V
208-4
440V
208-5
475V
208-7
500V
208-8
525V
208-9
600V
Rev.7
49
2 Specification of Variants and Options
In addition to above selection, the voltage range has to be specified. This gives the
possibility to select between three different transformers.
Mains connection
type
Option
Voltage range
Market
442-1
Voltage range 200,
220, 400, 440V
Intended for the Asian market
442-2
Voltage range 400,
440, 475, 500V
Intended for the European market
442-3
Voltage range 475,
500, 525, 600V
Intended for the North American market
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 206-2--4 is chosen, the female
connector (cable part) is included.
Option
Description
206-1
Cable gland for inside connection. Diameter
of cable:11-12 mm.
Figure 20 CEE male connector
206-3
CEE17-connector 32 A, 380-415 V, 3p + PE (see Figure 20). Not with
Flange disconnector (207-1) or UL/UR (429-1/429-2) or Service outlet
power supply (331-2). Not available for IRB 6600/7600.
206-2
32 A, 380-415 V, 3p + N + PE (see Figure 20). Not with Flange disconnector (207-1) or UL/UR (429-1/429-2). Not available for IRB 6600/7600.
206-4
Connection via an industrial Harting 6HSB
connector in accordance with DIN 41640.
35 A, 600 V, 6p + PE (see Figure 21).
Cannot be combined with Flange disconnector (207-1).
Figure 21 DIN male connector
50
Rev.7
3HAC 9039-1
2 Specification of Variants and Options
Mains switch
Option
Description
207-4
Rotary switch 40 A in accordance with the standard in section 1.2 and IEC
337-1, VDE 0113. Customer fuses for cable protection required.
207-1
Flange disconnector in accordance with the standard in section 1.2.
Includes door interlock for flange disconnector and a 20A circuit breaker
with interrupt capacity 14 kA.
207-8
Flange disconnector in accordance with the standard in section 1.2.
Includes door interlock for flange disconnector and a 20A circuit breaker
with interrupt capacity 65 kA at 400V, 25 kA at 600V.
207-5
Rotary switch 80 A.
Customer fuses for cable protection required. Included in the option Prepared for Arcitec (66-1).
320-1
Servo disconnector.
This option adds a rotary switch 40 A to the two contactors in the AC power
supply for the drive system. The handle can be locked by a padlock, e.g. in
an off position.
188-1
Door interlock for rotary switch.
Included in the options UL/CSA/UR (429-1, 429-2) and Servo disconnector
(320-1).
70-2
Circuit breaker for rotary switch.
Rated current 16A (option 442-2, -3) or 25A (option 442-2) circuit breaker
for short circuit protection of mains cables in the cabinet. Circuit breaker
approved in accordance with IEC 898, VDE 0660.
Interrupt capacity 30 kA at 400V.
For IRB 7600 and IRB 6600 the cabinet circuit breaker is always rated 25A.
When an external transformer is supplied, the circuit breaker is located in the transformer.
3HAC 9039-1
Rev.7
51
2 Specification of Variants and Options
I/O Interfaces
The standard cabinet can be equipped with up to four I/O units. For more details, see
I/O System on page 33.
X6 (CAN 1.2) X7 (CAN 1.3)
X8 (CAN 2)
Base Connector Unit
X10 (COM2, RS232)
X9 (COM3, RS422)
X15 (CAN 1.1)
Cabinet view from above
Computer system
(COM1, RS232)
I/O Units (X4)
XT 31
(24V I/O)
Figure 22 I/O unit and screw terminal locations.
52
Rev.7
3HAC 9039-1
2 Specification of Variants and Options
XT 31
(24V I/O)
Cabinet view from above
Computer system
(COM1, RS232)
Panel Unit
I/O Units (X4)
X1-X4
Safety Signals
115/230 VAC
Manipulator connections
XT21
Connection to
Position switches
XP6
XP5
XP58
XP8
Connection to
Customer power
Customer signals
Figure 23 I/O unit and screw terminal locations.
Inputs/outputs
3HAC 9039-1
Option
Inputs/outputs
Description
61-1
Digital 24 VDC I/O
16 inputs/16 outputs
54-1
Analog I/O
4 inputs/4 outputs
58-1
AD Combi I/O
16 digital inputs/16 digital outputs and 2 analog outputs (0-10V)
60-1
Digital 120 VAC I/O 16 inputs/16 outputs
63-1
Digital I/O with relay 16 inputs/16 outputs.
outputs
Relay outputs to be used when more current or voltage is required from the digital outputs. The inputs
are not separated by relays.
Rev.7
53
2 Specification of Variants and Options
Connection of I/O
Option
Connection
Description
191-3
Internal connection The signals are connected directly to screw terminals
(options 61-1, 54-1, on the I/O units in the upper part of the cabinet (see
58-1, 60-1, 63-1)
Figure 23).
191-2
External connection The signals are connected via 64-pole standard
industrial connector in accordance with DIN 43652.
The connector is located on the left-hand side of the
controller.
Corresponding customer part is included.
225-1
Prepared for 4 I/O
units
The internal CAN/Devicenet cabling to the I/O units
exists in two versions, one for up to two I/O units and
one for up to four I/O units. The versions are selected
to match the number of ordered I/O units. By this
option it is possible to get the four unit version even if
one or two I/O units are ordered.
Option
Connection
Description
309-3
Internal connection
The signals are connected directly to screw terminals
in the upper part of the cabinet (see Figure 23).
309-2
External connection The signals are connected via 64-pole standard
industrial connector in accordance with DIN 43652.
The connector is located on the left-hand side of the
controller.
Corresponding customer part is included.
Safety signals
Field bus and
communication
Option
54
Description
108-1
CAN/DeviceNet
Connection on the left side to two 5-pole female connectors in accordance with ANSI. (Male connectors
are supplied).
126-1
LAN/Ethernet
RJ45 connector to be used for LAN connector.
(When the connector is not used, a protective hood
covers it).
Rev.7
3HAC 9039-1
2 Specification of Variants and Options
Option
Variants
3HAC 9039-1
Description
250-1
Profibus DP Master/Slave
The hardware of the Profibus-DP field bus consists of
a master/slave unit, DSQC 510, and distributed I/O
units, called slave units. The DSQC 510 unit is
mounted in the S4Cplus computer system where it is
connected to the PCI bus while the slave units are
attached to the field bus network.
The slave units can be I/O units with digital and/or
analogue signals. They are all controlled via the
master part of the DSQC 510 unit.
The slave part of the DSQC 510 is normally controlled by an external master on a separate ProfibusDP network. This network is a different one than the
network holding the slave units for the master part of
the board. The slave part is a digital input and output
I/O unit with up to 512 digital input and 512 digital
output signals.
The signals are connected to the board front (two 9pole D-sub). Profibus DP M/S CFG Tool (option 2851) is required when setting up the master part or
when changing the number of signals for the slave
part. For more information see Product Specification
RobotWare Options.
177-3/177-1
Interbus Master/
Slave
The hardware of the Interbus field bus consists of a
Master/Slave unit (DSQC512/529) and distributed I/
O units. The master and the slave units are two separate boards connected by a flat cable. The
DSQC512/529 unit is connected to the S4Cplus
robot controller PCI bus while the I/O units are
attached to the field bus net.
The I/O units may be digital or analog modules. They
are all controlled by the master part of the DSQC512/
529 unit.
The slave part of the DSQC512/529 unit is normally
controlled by an external master on a separate Interbus network. This network is a different one than the
network holding the I/O units for the master part of
the board. The slave part is a digital in- and out put I/
O unit with up to 160 digital in- and 160 digital out
signals.
Two variants are available
Option
Variants
177-3
for optical fibre connection (DSQC512)
177-1
for copper wire connection (DSQC529)
Rev.7
55
2 Specification of Variants and Options
Interbus M/S CFG Tool (option 185-1) is required when setting up the master part or
when changing the number of signals for the slave part. For more information see
Product Specification RobotWare Options.
Gateway units
For more details, see I/O System on page 33.
Option
External I/O units
56
Description
13-1
Allen-Bradley
Remote I/O
Up to 128 digital inputs and 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 A-B Remote I/O unit in the upper part
of the cabinet (see Figure 23). Connectors Phoenix
MSTB 2.5/xx-ST-5.08 or equivalent are included.
178-1
Interbus Slave
Up to 64 digital inputs and 64 digital outputs can be
transferred serially to a PLC equipped with an InterBus interface. The unit reduces the number of I/O
units that can be mounted in the cabinet by one. The
signals are connected directly to the InterBus slave
unit (two 9-pole D-sub) in the upper part of the cabinet.
251-1
Profibus DP Slave
Up to 128 digital inputs and 128 digital outputs 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 the 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.
79-1
Encoder interface
unit for conveyor
tracking (DSQC
354)
Conveyor Tracking, RobotWare option 83-1, is the
function whereby the robot follows a work object
which is mounted on a moving conveyor. The customer encoder and synchronization switch cables
are connected directly to the encoder unit in the
upper part of the cabinet (see Figure 23). Screw connector is included.
This option is also required for the function Sensor
Synch, RobotWare option 316-1.
80-1
Encoder interface
unit for conveyor
tracking (DSQC
377)
The option adds functions required for PickMaster
4.0.
Physically similar to DSQC 354.
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 23) 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
Rev.7
3HAC 9039-1
2 Specification of Variants and Options
cabling, is included. Dimensions according to Figure 24 and Figure 25.
For more details, see I/O System on page 33.
Option
Inputs/outputs
137-1
Digital I/O 24 V DC
132-1
Analog I/O
16 inputs/16 outputs
130-1
AD Combi I/O
136-1
Digital I/O 120 V AC 16 inputs/16 outputs
138-1
Digital I/O with relay 16 inputs/16 outputs
outputs
Option
Units
131-1
Allen Bradley Remote I/O
142-1
Interbus Slave
144-1
Profibus DP Slave
134-1
Encoder interface unit DSQC 354
135-1
Encoder interface unit DSQC 377
16 digital inputs/16 digital outputs and 2 analog outputs (0-10V)
External gateway
units
EN 50022 mounting rail
195
203
49
Figure 24 Dimensions for I/O units.
3HAC 9039-1
Rev.7
57
2 Specification of Variants and Options
EN 50022 mounting rail
170
49
115
Figure 25 Dimension for gateway units.
External axes in
robot cabinet
not available for IRB 340, IRB 6400PE, IRB 6600, IRB 7600
It is possible to equip the controller with drives for external axes. The motors are
connected to a standard industrial 64-pin female connector, in accordance with DIN
43652, on the left-hand side of the cabinet. (Male connector is also supplied.)
Drive units
58
Option
Units
Description
52-1
Drive unit C
The drive unit is part of the DC-link. Recommended
motor type, see Motor selection table on page 64
Not available for IRB 640.
52-7
Drive unit T
The drive unit is part of the DC-link. Recommended
motor type, see Motor selection table on page 64
Not available for IRB 640, 6400R.
52-9
Drive unit U
The drive unit is part of the DC-link. Recommended
motor types, see Motor selection table on page 64
Not available for IRB 4400, 6400S, 6400PE, 640.
For IRB 140, 1400 and 2400 the option consists of a
larger transformer, DC link DC4U with integrated U drive
unit and one extra axis computer with its connection
board.
No cabling from the drive unit U to cabinet wall is
included.
For IRB 6400R the option consists of a DC link DC4U
with integrated U drive unit with cabling to the cabinet
wall.
Rev.7
3HAC 9039-1
2 Specification of Variants and Options
Option
Units
Description
52-3
Drive unit GT
A separate drive unit including two drives. Recommended motor type, see Motor selection table on page
64
Not available for IRB 4400, 6400R, 6400S
52-4
Prepared for
drives GT
The same as 52-3 but without the GT drive module. The
preparation includes; larger transformer, larger DC link
DC2, and one additional axis computer with its connection board.
Not available for IRB 4400, 640, 6400R, 6400S
52-6
Prepared for
drives GT
The same as 52-4 but without additional axes computer
and connection board.
52-5
Prepared for
drives GU
The same as 52-4 but intended for a GU drive module.
The preparation includes: larger transformer, larger DC
link DC4, and one additional axis computer with its connection board.
Not available for IRB 4400, 640, 6400R, 6400S.
52-8
Drive unit T+GT A combination of 52-7 and 52-3.
Not available for IRB 4400, 640, 6400R, 6400S
52-2
Drive unit C+GT A combination of 52-1 and 52-3
Not available for IRB 4400, 640, 6400R, 6400S
422-1
Track Motion
Option
Robot
Description
323-1--6
IRB 6400R, IRB
6600 and 7600
For further information see the Product Specification
IRB 6400R chapter Servo Gun or IRB 6600 chapter
Servo Gun (overview), and the Product Specification
RobotWare Options (function description).
Option
Robot
Description
A special wiring for the three motor combination 52-8
(IRB 140, 1400, 2400 only) to be used when axis 7 is
intended for an ABB Track Motion. The drive unit in the
DC link and the Track Motion measurement board is
then connected to the robot axes computer 1 while the
drive unit and the measurement board for motor 8 and 9
is connected to axes computer 2. All motor power wiring
is routed to one common connector, XS7.
Servo gun
interface
Stationary gun
(SG)
323-5
IRB 6400R
Stationary gun
(SG) or one
external axis for
general use
3HAC 9039-1
The option consists of an encapsulated Serial Measurement Board (SMB) and cabling inside the controller.
The cabling between SMB and the controller is
selected in the option range 95-1--4.
Drive unit 52-9 is required.
Rev.7
59
2 Specification of Variants and Options
Option
Robot
Description
323-5
IRB 6600/7600
Stationary gun
(SG) or one
external axis for
general use
The option adds a resolver cable to the manipulator
cable option 476-1 (or 467-1), and a 7m resolver
cable between the manipulator and the welding gun
pedestal. The customer connector to this cable
should be an 8-pin Burndy, wired according to Motor
Unit specification.
The cable between the controller DDU and the welding gun pedestal is selected in the option range 95-1,
-2, -4 (different lengths). The customer connector to
this cable should be of Industrial Multi-connector
type, corresponding to the manipulator CP/CS (see
Product Specification IRB 6600/7600). Besides the
necessary motor wiring, it also contains 12 wires for
gun I/O, accessible on screw terminals in the cabinet.
Drive unit 53-2 or 53-3 (DDU-V or -W) must be
selected.
Option
Description
Robot Gun (RG)
Robot
323-1
IRB 6400R
Robot Gun (RG)
The option consists of an encapsulated SMB and
cabling inside the controller. It also includes bracket
for 6400R foot mounting of the SMB box, and cabling
between the SMB box and the manipulator.
The cabling between SMB and the controller is
selected in the option range 93-1--4.
Drive unit option 52-9 is required.
323-1
IRB 6600/7600
Robot Gun (RG)
The option adds resolver cables to the manipulator
cable option 476-1. The cable between the controller
and the manipulator is selected in the option range
450-1, -2, -4. Besides the necessary motor wiring the
cable also contains 22 wires for gun I/O and CAN/
DeviceNet fieldbus. The I/O wiring is accessible on
screw terminals in the cabinet.
Drive unit 53-2 (DDU-V) must be selected.
Option
Robot
Description
323-3
IRB 6400R
The option is a combination of 523-5 and 523-1. A
distributed drive unit (DDU) controls the SG motor.
The cabling between the SG SMB and the controller
is selected in the option range 95-1--4, and the
cabling between the RG SMB and the controller is
selected in the option range 93-1--4.
Drive unit options 52-9 (for the RG) and 53-1 (for the
SG) are required.
One SG and one
RG
60
Rev.7
3HAC 9039-1
2 Specification of Variants and Options
Option
Robot
Description
323-3
IRB 6600/7600
The option adds a resolver cable to the manipulator
cable option 476-1. The cable between the controller
and the welding gun pedestal is selected in the option
range 95-1--4. The customer connector to this cable
should be of Industrial Multi-connector type, corresponding to the manipulator CP/CS (see Product
Specification IRB 6600/7600). Besides the necessary motor wiring it also contains 12 wires for gun I/
O, accessible on screw terminals in the cabinet.
The cable between the controller and the manipulator
(for RG) is selected in the option range 450-1, -2, -4.
Besides the necessary motor wiring the cable also
contains 22 wires for gun I/O and CAN/DeviceNet
fieldbus.
The option also consists of an SMB box for two
resolvers, a serial cable between the box and the
controller (the same length as 210-2--5), and two
resolver cables, one 1.5m for the RG and one 7m for
the SG. The customer connector to the SG cable
should be an 8-pin Burndy, wired according to the
Motor Unit specification. The SMB box should be
mounted close to the manipulator foot. Dimensions
and mounting information can be found in the Product Specification Motor Unit.
Drive unit 53-4 (DDU-VW) must be selected.
Option
Robot
Description
323-6
Twin SG
IRB 6400R
The option is a combination of two options 323-5. A
distributed drive unit controls the second SG motor.
The cabling between the SG SMBs and the controller
is selected in the option range 95-1--4.
Drive unit options 52-9 (for one SG) and 53-1 (for the
second SG) are required.
323-6
Twin SG
IRB 6600/7600
The option consists of an SMB box for two resolvers,
a serial cable between the box and the controller (the
same length as 686-689), and two 7m resolver
cables. The customer connector to the SG cable
should be an 8-pin Burndy, wired according to the
Motor Unit specification. The SMB box should be
mounted close to the manipulator foot. Dimensions
and mounting information can be found in the product
Specification Motor Unit.
The two cables between the controller and the pedestals are selected in the option range 95-1--2.
Customer connectors to the cables should be of
Industrial Multi-connector type, corresponding to the
manipulator CP/CS (see Product Specification IRB
6600/7600). Besides the necessary motor wiring, the
cables also contain 12 wires for gun I/O, accessible
on screw terminals in the cabinet (SG axis 7), or on
the Multi connector inside (SG axis 8) the DDU.
Drive unit 53-4 (DDU-VW) must be selected.
Twin SG
3HAC 9039-1
Rev.7
61
2 Specification of Variants and Options
SG and Track
Motion
Option
Robot
Description
323-4
SG and Track
Motion (T)
IRB 6400R
The option is a combination of 323-5 and a Track
Motion IRBT 6002S controlled by a distributed drive
unit.
The cabling between the SG SMB and the controller
is selected in the option range 95-1--4.
Drive unit options 52-9 (for the SG) and 53-1 (for the
T) are required.
323-4
SG and Track
Motion (T)
IRB 6600/7600
A 7m resolver cable for the SG is included in the
option. The customer connector to the cable should
be an 8-pin Burndy, wired according to the Motor Unit
specification.
The cable between the controller and the welding
gun pedestal is selected in the option range 95-1--2.
The customer connector to the cable should be of
Industrial Multi-connector type, corresponding to the
manipulator CP/CS (see Product Specification IRB
6600/7600). Besides the necessary motor wiring the
cable also contains 12 wires for gun I/O, accessible
on screw terminals in the cabinet.
The SMB box and the power cable between the controller and the Track Motion are included in the Track
Motion delivery. The serial measurement cable
between the controller and the Track Motion are
included in option 323-4 (length according to 210-2, 3).
Drive unit 53-4 (DDU-VW) must be selected.
Option
Robot
Description
323-2
RG and T
IRB 6400R
The option is a combination of 323-1 and a track
motion IRBT 6002S controlled by a distributed drive
unit.
The cabling between the RG SMB and the controller
is selected in the option range 93-1--4.
Drive unit options 52-9 (for the SG) and 53-1 (for the
T) are required.
323-2
RG and T
IRB 6600/7600
The option adds a resolver cable to the manipulator
cable option 2200. The RG cable between the controller and Track Motion is selected in the option
range 450-1, -2, -4 except for the track motor cable
which is included in the Track Motion delivery.
Besides the necessary motor wiring, the RG cable
also contains 22 wires for gun I/O and CAN/
DeviceNet fieldbus.
The option also consists of a 1.5m resolver cable for
the RG to be connected to the Track Motion mounted
SMB box.
Drive unit 53-4 (DDU-VW) must be selected.
RG and T
62
Rev.7
3HAC 9039-1
2 Specification of Variants and Options
External axes
measurement
board
not available for IRB 340, IRB 6400PE
The resolvers can be connected to a serial measurement board outside the controller.
External axes separate cabinet
Option
Description
317-2
Serial measurement board as separate unit
Low voltage
not available for IRB 340, IRB 6400PE
An external cabinet can be supplied when there is not space enough in the standard
cabinet. 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 and one mains switch are included.
Figure 26
3HAC 9039-1
Rev.7
63
2 Specification of Variants and Options
Recommended motor types see table Motor selection below.
Motor selection
table
Option
Drive unit
Description
53-7/53-9
Drive unit GT
For 4 or 6 motors
53-5
Drive unit ECB
For 6 motors
53-6
Drive unit GT + ECB
For 5 motors
53-8
Drive unit GT + GT + ECB
For 6 motors
Motor types according to Product Specification Motor Unit.
Drive
voltage
Drive unit
identity
Motor max
current Arms
Drive unit rated
current Arms
Suitable motor
type
High
W
11.5-57
30
MU30
High
V
5.5-26
14.5
MU20
Low
U
11 - 55
24
MU30
Low
T
7.5-37
20
MU30
Low
G
6-30
16
MU20
Low
E
4 - 19
8,4
MU20
Low
C
2,5 - 11
5
MU10
Low
B
1,5 - 7
4
MU10
Option
Drive unit
Description
53-1
Drive unit DDU-U
(low voltage)
A separate box (H=500mm W=300mm D=250mm)
including a DC link DC4 and a drive unit GU where
the U part is used (the G part is not connected).
The DDU-U is operated from an additional axis computer, included in the option.
DDU-U is mainly intended for Servo Gun solutions
according to options 323-3, -4, -6 and is available for
IRB 4400 and 6400R.
53-2
Drive unit DDU-V
IRB 6600/7600
53-4
Drive unit DDU-VW IRB 6600/7600
53-3
Drive unit DDU-W
Drive unit
IRB 6600/7600
Figure 27
64
Rev.7
3HAC 9039-1
2 Specification of Variants and Options
Drive unit DDUVW/DDU-V/DDUW
A separate box (H=500mm, W=300mm, D=250mm) including a DC link DC5 and a
drive unit VW.
The box has 4 keyholes on the back of the encapsulation for fastening on a wall or a
fence with the connections pointing downwards. Connection cabling (length 5m) to
the controller is included.
The DDU-VW is operated from an additional axis computer included in the option,
while the DDU-V and -W are operated from the basic robot axes computer.
The options also include appropriate cabling inside the manipulator for different
resolver configurations, see Product Specification IRB 6600, chapter Servo Gun.
E.g. 7 axes applications utilise the built in 7 resolver SMB.
The DDU-V and VW are mainly intended for Servo Gun solutions according to
options 323-1--6.
The DDU-W is intended for a Track Motion without ServoGun.
Figure 28
For general use of one external axis in IRB 6600 or IRB 7600, select the DressPack
options 476-1 or 467-1 for resolver cabling to the built in 7 channel SMB.
Equipment
Manipulator cable.
Option
Description
212-2
Standard
Option
Description
210-2
7m
210-3
15 m, not available for IRB 140
210-4
22 m, not available for IRB 140
210-5
30 m, not available for IRB 140
210-1
3 m, only available for IRB 140
Cable length
3HAC 9039-1
Rev.7
65
2 Specification of Variants and Options
Protection for
manipulator cable
Service outlet
not available for IRB 6600/7600.
Option
Description
288-1
Each unit length is 2 m. Totally 40 m protection can be specified.
Any of the following standard outlets with protective earthing can be chosen for
maintenance purposes.
The maximum load permitted is 500 W (max. 100 W can be installed inside the
cabinet).
Power supply
Option
Description
328-6
120 V in accordance with American standard; single socket, Harvey Hubble.
328-1
230 V mains outlet in accordance with DIN VDE 0620; single socket suitable for EU countries.
to the service outlet.
Option
Description
331-3
Connection from the main transformer.
The voltage is switched on/off by the mains switch on the front of the cabinet.
331-2
Connection before mains switch which means that the voltage is always
available.
Note this only applies when supply voltage to the cabinet is 400 V, threephase with neutral connection and a 230 V service socket.
Connection before mains switch is not in compliance with some national standards, NFPL 79
for example. The option 331-2 is not available for IRB 6600/7600
Memory
66
Removable mass memory.
Option
Memory
Description
215-1
Floppy drive
The disk drive normally works well at temperatures
up to 40oC (104oF). 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.
Rev.7
3HAC 9039-1
2 Specification of Variants and Options
Option
Memory
Description
581-2
USB Flash disk
interface
An external connector located together with the standard Ethernet service port.
Following USB Flash disk types are verified:
SanDisk 512 Mb
Iomega 128 Mb
Kingston 256 Mb
Pen Drive 256 Mb
Extended mass memory
3HAC 9039-1
Option
Description
140-1
Flash disk 128 Mb. Standard is 64 Mb
Rev.7
67
2 Specification of Variants and Options
68
Rev.7
3HAC 9039-1
Index
A
Absolute measurement, 24
Allen-Bradley Remote I/O, 33, 35, 56
analog signals, 33, 37
automatic operation, 24
B
backup
computer system backup, 21
memory, 18
C
cabinet wheels, 45
CAN/DeviceNet, 54
collision detection, 12
communication, 40
concurrent I/O, 34
configuration, 21, 33
connection, 66
mains supply, 50
cooling device, 7
coordinate systems, 27
cross connections, 33
cursor, 13
D
diagnostics, 26
digital signals, 33
distributed I/O, 36
E
editing
position, 23
programs, 23
emergency stop, 12
emergency stop button, 14
enabling device, 11, 14
Encoder interface unit, 35, 56
event routine, 24
extended memory, 18
external axes, 30
F
fire safety, 12
flash disk memory, 18
fly-by point, 22
function keys, 14
H
hold-to-run control, 12
humidity, 20
I
I/O units, 35
I/O-system, 33
inputs, 33
installation, 20
3HAC 9039-1
Interbus Slave, 33, 35, 56
interrupt, 34
J
joystick, 14, 15
L
LAN/Ethernet, 54
language, 21
lighting
connection, 66
teach pendant, 48
M
mains supply, 50
mains switch, 51
mains voltage, 49
maintenance, 26
manipulator cable, 65
length, 65
protection, 66
mass memory, 18
memory
backup, 18
extended, 18
flash disk, 18
mass storage, 18
RAM memory, 18
mirroring, 23
motion, 26
motion keys, 14
Multitasking, 34
N
navigation keys, 14
noise level, 7
O
operating mode, 17
operating mode selector, 16, 47
operating requirements, 20
operation, 13
operator’s panel, 16
options, 43
outputs, 33
over-speed protection, 12
P
password, 23
PLC functionality, 34
position
editing, 23
programming, 22
position fixed I/O, 34
production window, 24
Profibus, 55
Profibus DP Slave, 33, 35, 56
Rev.7
69
Index
program
editing, 23
testing, 23
programming, 22
R
RAPID Language, 25
reduced speed, 11
S
safe manual movements, 12
safeguarded space stop, 12
delayed, 12
safety, 10
safety lamp, 13
serial communication, 40
service, 26
service outlets, 66
space requirements, 7
standards, 10
stop point, 22
structure, 7
system signals, 39
T
Teach pendant, 13
teach pendant
cable, 48
lighting, 48
testing programs, 23
trap routines, 34
troubleshooting, 26
TrueMove, 27
V
variants, 43
volume, 7
W
window keys, 14
windows, 13
working space
restricting, 12
70
Rev.7
3HAC 9039-1
3HAC 9039-1, Revision 7, en
ABB Automation Technologies AB
Robotics
S-721 68 VÄSTERÅS
SWEDEN
Telephone: +46 (0) 21 344000
Telefax:
+46 (0) 21 132592
Was this manual useful for you? yes no
Thank you for your participation!

* Your assessment is very important for improving the work of artificial intelligence, which forms the content of this project

Download PDF

advertisement