User manual | Product specification

Product specification
IRB 6650S
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Workspace Main version a214
Checked in 2017-03-16
Skribenta version 5.1.011
Product specification
IRB 6650S-90/3.9
IRB 6650S-125/3.5
IRB 6650S-200/3.0
Document ID: 3HAC030822-001
Revision: T
© Copyright 2004-2017 ABB. All rights reserved.
The information in this manual is subject to change without notice and should not
be construed as a commitment by ABB. ABB assumes no responsibility for any errors
that may appear in this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be
construed as any kind of guarantee or warranty by ABB for losses, damages to
persons or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from
use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB's
written permission.
Keep for future reference.
Additional copies of this manual may be obtained from ABB.
Original instructions.
© Copyright 2004-2017 ABB. All rights reserved.
ABB AB, Robotics
Robotics and Motion
Se-721 68 Västerås
Sweden
Table of contents
Table of contents
1
Overview of this product specification .............................................................................................
7
Description
9
1.1
2
Structure .........................................................................................................
1.1.1 Introduction ............................................................................................
1.1.2 Different robot versions ............................................................................
1.1.3 Definition of version designation ................................................................
1.2 Standards ........................................................................................................
1.2.1 Applicable standards ...............................................................................
1.3 Installation .......................................................................................................
1.3.1 Introduction ............................................................................................
1.3.2 Operating requirements ............................................................................
1.3.3 Mounting the manipulator .........................................................................
1.4 Calibration and references ..................................................................................
1.4.1 Fine calibration .......................................................................................
1.4.2 Absolute Accuracy calibration ...................................................................
1.4.3 Robot references ....................................................................................
1.5 Load diagrams ..................................................................................................
1.5.1 Introduction to Load diagrams ...................................................................
1.5.2 Load diagrams ........................................................................................
1.5.3 Maximum load and moment of inertia for full and limited axis 5 (center line down)
movement ..............................................................................................
1.5.4 Wrist torque ...........................................................................................
1.6 Mounting equipment ..........................................................................................
1.6.1 Introduction ............................................................................................
1.6.2 Mounting of hip load ................................................................................
1.7 Maintenance and troubleshooting .........................................................................
1.7.1 Introduction ............................................................................................
1.8 Robot motion ....................................................................................................
1.8.1 Introduction ............................................................................................
1.8.2 Performance according to ISO 9283 ............................................................
1.8.3 Velocity .................................................................................................
1.8.4 Robot stopping distances and times ...........................................................
1.9 Cooling fan for axis 1 and 2 motor ........................................................................
1.9.1 Introduction ............................................................................................
1.10 Servo gun ........................................................................................................
1.10.1 Introduction ............................................................................................
1.10.2 Stationary Gun ........................................................................................
1.10.3 Robot Gun .............................................................................................
1.10.4 Robot Gun and Track Motion IRBT 6004 ......................................................
1.10.5 Track Motion IRBT 6004 ...........................................................................
9
9
12
13
15
15
17
17
18
19
24
24
25
27
29
29
31
SpotPack and DressPack
61
2.1
61
61
63
65
66
67
68
68
69
70
77
79
79
2.2
2.3
Introduction ......................................................................................................
2.1.1 General .................................................................................................
2.1.2 Product range .........................................................................................
2.1.3 Limitations of robot movements .................................................................
2.1.4 Impact on dress pack lifetime ....................................................................
2.1.5 Chapter Structure ....................................................................................
DressPack .......................................................................................................
2.2.1 Introduction ............................................................................................
2.2.2 Build-in features for upper arm DressPack ...................................................
2.2.3 Interface descriptions for DressPack ...........................................................
2.2.4 Dimensions ............................................................................................
Type H ............................................................................................................
2.3.1 Introduction ............................................................................................
Product specification - IRB 6650S
39
41
42
42
44
47
47
48
48
52
53
54
55
55
56
56
57
58
59
60
5
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© Copyright 2004-2017 ABB. All rights reserved.
Table of contents
2.3.2 Configuration result for Type H ..................................................................
Type S ............................................................................................................
2.4.1 Introduction ............................................................................................
2.4.2 Configuration result for Type S ..................................................................
2.4.3 Summary Type S .....................................................................................
2.5 Type HS ..........................................................................................................
2.5.1 Introduction ............................................................................................
2.5.2 Configuration result for Type HS ................................................................
2.5.3 Interface description stationary gun ............................................................
2.5.4 Summary Type HS ..................................................................................
2.6 Type Se ...........................................................................................................
2.6.1 Introduction ............................................................................................
2.6.2 Configuration result for Type Se .................................................................
2.6.3 Summary Type Se ...................................................................................
2.7 Type HSe .........................................................................................................
2.7.1 Introduction ............................................................................................
2.7.2 Configuration result for Type HSe ..............................................................
2.7.3 Interface description stationary gun ............................................................
2.7.4 Summary Type HSe .................................................................................
2.8 Spot Welding cabinet .........................................................................................
2.8.1 Introduction to Spot Welding cabinet ..........................................................
2.8.2 Interface description Spot Welding cabinet ..................................................
2.9 Water and Air unit .............................................................................................
2.9.1 Introduction ............................................................................................
2.9.2 Technical data Water and Air unit ...............................................................
2.10 Connection kits .................................................................................................
81
86
86
88
95
96
96
98
104
106
107
107
109
119
120
120
122
128
130
131
131
138
139
139
146
147
Specification of variants and options
153
3.1
3.2
3.3
3.4
3.5
3.6
3.7
3.8
3.9
3.10
3.11
3.12
153
154
156
160
161
162
163
164
165
166
167
168
2.4
3
4
Introduction to variants and options ......................................................................
Manipulator ......................................................................................................
Equipment .......................................................................................................
Floor cables .....................................................................................................
Process DressPack ...........................................................................................
DressPack Floor ...............................................................................................
DressPack Lower and Upper arm .........................................................................
Connection Kits ................................................................................................
Servo Gun .......................................................................................................
SpotPack Floor Cables .......................................................................................
Process Cabinet ................................................................................................
Water and Air ...................................................................................................
Accessories
4.1
169
Introduction to accessories ................................................................................. 169
Index
171
6
Product specification - IRB 6650S
3HAC030822-001 Revision: T
© Copyright 2004-2017 ABB. All rights reserved.
Overview of this product specification
Overview of this product specification
About this product specification
It describes the performance of the manipulator or a complete family of manipulators
in terms of:
•
The structure and dimensional prints
•
The fulfilment of standards, safety and operating requirements
•
The load diagrams, mounting of extra equipment, the motion and the robot
reach
•
The specification of variant and options available
Usage
Product specifications are used to find data and performance about the product,
for example to decide which product to buy. How to handle the product is described
in the product manual.
Users
It is intended for:
•
Product managers and Product personnel
•
Sales and Marketing personnel
•
Order and Customer Service personnel
References
Reference
Document ID
Product specification - Controller IRC5
IRC5 with main computer DSQC1000.
3HAC047400-001
Product specification - Controller software IRC5
IRC5 with main computer DSQC1000 and RobotWare 5.6x.
3HAC048264-001
Product specification - Controller software IRC5
IRC5 with main computer DSQC1000 and RobotWare 6.
3HAC050945-001
Product manual - IRB 6650S
3HAC020993-001
Product specification - Robot user documentation, IRC5 with RobotWare 3HAC052355-001
6
Revisions
Revision
Description
-
- New Product Specification.
A
- Changes for Calibration data
- Work range
- Explanation of ISO values (new figure and table)
- Stopping distance
- User documentation on DVD
B
- General update for 9.1 release
Continues on next page
Product specification - IRB 6650S
7
3HAC030822-001 Revision: T
© Copyright 2004-2017 ABB. All rights reserved.
Overview of this product specification
Continued
Revision
Description
C
- Foundry Plus 2
D
- Updated Foundry Plus 2 text
- ISO-Cube
E
- Text for Standards updated
- New document structure
F
- Minor corrections and information added
G
•
•
Table for ambient temperature adjusted
Minor corrections
H
•
•
Machinery directive updated
General corrections
J
•
•
•
Base plate drawing updated
Drawing for reference holes updated
Minor corrections/update
K
•
Minor corrections/update
L
•
Minor corrections/update
M
•
•
Text for ISO test adjusted
Robot stopping distances and times for category 0 and category 1
stops are moved to a separate document, Product specification - Robot
stopping distances according to ISO 10218-1
N
•
•
Text for Foundry Plus updated.
Minor corrections/update
P
•
Minor corrections/update
Q
•
•
DressPack LeanID added
Section "SpotWelding cabinet" updated.
R
•
Warranty information for DressPack added
S
Phrase The values for IRB 6650S-90/3.9 are not yet available is changed to
The values for IRB 6650S-90/3.9 are not available, in section Performance
according to ISO 9283 on page 52
T
Published in release R17.1. The following updates are done in this revision:
• Restriction of load diagram added.
8
Product specification - IRB 6650S
3HAC030822-001 Revision: T
© Copyright 2004-2017 ABB. All rights reserved.
1 Description
1.1.1 Introduction
1 Description
1.1 Structure
1.1.1 Introduction
Robot family
The IRB 6650S is available in three versions:
The IRB 6650S is ideal for process applications, regardless of industry and offers
a unique working envelope. Typical areas can be Spot Welding, Material Handling
and Machine Tending.
Software product range
We have added a range of software products - all falling under the umbrella
designation of Active Safety - to protect not only personnel in the unlikely event
of an accident, but also robot tools, peripheral equipment and the robot itself.
Operating system
The robot is equipped with the IRC5 controller and robot control software,
RobotWare. RobotWare supports every aspect of the robot system, such as motion
control, development and execution of application programs, communication etc.
See Product specification - Controller IRC5 with FlexPendant.
Safety
Safety standards valid for complete robot, manipulator and controller.
Additional functionality
For additional functionality, the robot can be equipped with optional software for
application support - for example gluing and welding, communication features network communication - and advanced functions such as multitasking, sensor
control etc. For a complete description on optional software, see the Product
specification - Controller software IRC5.
Protection type Foundry Plus 2
Robots with the option Foundry Plus 2 are designed for harsh environments where
the robot is exposed to sprays of coolants, lubricants and metal spits that are
typical for die casting applications or other similar applications.
Typical applications are spraying insertion and part extraction of die-casting
machines, handling in sand casting and gravity casting, etc. (Please refer to Foundry
Prime robots for washing applications or other similar applications). Special care
must be taken in regard to operational and maintenance requirements for
applications in foundry are as well as in other applications areas. Please contact
ABB Robotics Sales organization if in doubt regarding specific application feasibility
for the Foundry Plus 2 protected robot.
The robot is painted with two-component epoxy on top of a primer for corrosion
protection. To further improve the corrosion protection additional rust preventive
Continues on next page
Product specification - IRB 6650S
9
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1 Description
1.1.1 Introduction
Continued
are applied to exposed and crucial areas, e.g. has the tool flange a special
preventive coating. Although, continuous splashing of water or other similar rust
formation fluids may cause rust attach on the robots unpainted areas, joints, or
other unprotected surfaces. Under these circumstances it is recommended to add
rust inhibitor to the fluid or take other measures to prevent potential rust formation
on the mentioned.
The entire robot is IP67 compliant according to IEC 60529 - from base to wrist,
which means that the electrical compartments are sealed against water and solid
contaminants. Among other things all sensitive parts are better protected than the
standard offer.
Selected Foundry Plus 2 features:
•
Improved sealing to prevent penetration into cavities to secure IP67
•
Additional protection of cabling and electronics
•
Special covers that protect cavities
•
Well-proven connectors
•
Nickel coated tool flange
•
Rust preventives on screws, washers and unpainted/machined surfaces
•
Extended service and maintenance program
The Foundry Plus 2 robot can be cleaned with appropriate washing equipment
according to the robot product manual. Appropriate cleaning and maintenance is
required to maintain the protection, for example can rust preventive be washed off
with wrong cleaning method.
Available robot versions
The option Foundry Plus 2 might not be available for all robot versions.
See chapter Specification of variants and options on page 153 for robot versions
and other options not selectable together with Foundry Plus 2.
Continues on next page
10
Product specification - IRB 6650S
3HAC030822-001 Revision: T
© Copyright 2004-2017 ABB. All rights reserved.
1 Description
1.1.1 Introduction
Continued
Axis movement
xx1000000479
Pos
Description
Pos
Description
A
Axis 1
B
Axis 2
C
Axis 3
D
Axis 4
E
Axis 5
F
Axis 6
Product specification - IRB 6650S
11
3HAC030822-001 Revision: T
© Copyright 2004-2017 ABB. All rights reserved.
1 Description
1.1.2 Different robot versions
1.1.2 Different robot versions
General
The IRB 6650S is available in three versions.
Standard
The following different standard robot types are available:
Robot type
Handling capacity
Handling capacity for LeanID
Reach
IRB 6650S
90 kg
-
3.9 m
IRB 6650S
125 kg
100 kg
3.5 m
IRB 6650S
200 kg
190 kg
3.0 m
Note
If option 780-4, LeanID is selected, the payload wil ldecrease as stated above,
for detailed information see Load diagrams on page 29
12
Product specification - IRB 6650S
3HAC030822-001 Revision: T
© Copyright 2004-2017 ABB. All rights reserved.
1 Description
1.1.3 Definition of version designation
1.1.3 Definition of version designation
IRB 6650S Mounting
Handling capacity (kg)/ Reach (m)
Prefix
Description
Mounting
-
Floor-mounted manipulator
Handling capacity
(kg)
yyy
Indicates the maximum handling capacity (kg)
Reach (m)
x.x
Indicates the maximum Reach at wrist center (m)
Manipulator weight
Robot type
Weight
IRB 6650S-90/3.9
2275 kg a
IRB 6650S-125/3.5
2250 kg a
IRB 6650S-200/3.0
2250 kg a
a. Without DressPack
Other technical data
Data
Description
Note
Airborne noise level The sound pressure level < 73 dB (A) Leq (acc. to Machinery directoutside the working space. ive 2006/42/EG)
Power consumption at max load
Type of Movement
IRB 6650S
ISO Cube
2.4 kW
E2
E1
E4
E3
A
xx1000000101
Pos
Description
A
1000 mm
Continues on next page
Product specification - IRB 6650S
13
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1 Description
1.1.3 Definition of version designation
Continued
(B)
630
2295.4
1280
200
(A)
726. 4
410
600
R1
182
864
886
168
R2
xx1000000480
Robot variant
A
B
IRB 6650S-90/3.9
2042
-
IRB 6650S-125/3.5
1592
200 mm for standard and 349
mm LeanID
IRB 6650S-200/3.0
1142
200 mm for standard and 349
mm LeanID
Pos
Description
R1
R 960 (Rear side, Balancing device)
R2
R 813 (Front side, Motor axis 2)
14
Product specification - IRB 6650S
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© Copyright 2004-2017 ABB. All rights reserved.
1 Description
1.2.1 Applicable standards
1.2 Standards
1.2.1 Applicable standards
Note
The listed standards are valid at the time of the release of this document. Phased
out or replaced standards are removed from the list when needed.
Standards, EN ISO
The product is designed in accordance with the requirements of:
Standard
Description
EN ISO 12100
Safety of machinery - General principles for design - Risk assessment and risk reduction
EN ISO 13849-1
Safety of machinery, safety related parts of control systems Part 1: General principles for design
EN ISO 13850
Safety of machinery - Emergency stop - Principles for design
EN ISO 10218-1
Robots for industrial environments - Safety requirements -Part
1 Robot
EN ISO 9787
Robots and robotic devices -- Coordinate systems and motion
nomenclatures
EN ISO 9283
Manipulating industrial robots, performance criteria, and related
test methods
EN ISO 14644-1 i
Classification of air cleanliness
EN ISO 13732-1
Ergonomics of the thermal environment - Part 1
EN IEC 61000-6-4
(option 129-1)
EMC, Generic emission
EN IEC 61000-6-2
EMC, Generic immunity
EN IEC 60974-1 ii
Arc welding equipment - Part 1: Welding power sources
EN IEC 60974-10 ii
Arc welding equipment - Part 10: EMC requirements
EN IEC 60204-1
Safety of machinery - Electrical equipment of machines - Part
1 General requirements
IEC 60529
Degrees of protection provided by enclosures (IP code)
i
ii
Only robots with protection Clean Room.
Only valid for arc welding robots. Replaces EN IEC 61000-6-4 for arc welding robots.
European standards
Standard
Description
EN 614-1
Safety of machinery - Ergonomic design principles - Part 1:
Terminology and general principles
EN 574
Safety of machinery - Two-hand control devices - Functional
aspects - Principles for design
Continues on next page
Product specification - IRB 6650S
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1 Description
1.2.1 Applicable standards
Continued
Other standards
Standard
Description
ANSI/RIA R15.06
Safety requirements for industrial robots and robot systems
ANSI/UL 1740
Safety standard for robots and robotic equipment
CAN/CSA Z 434-14
Industrial robots and robot Systems - General safety requirements
16
Product specification - IRB 6650S
3HAC030822-001 Revision: T
© Copyright 2004-2017 ABB. All rights reserved.
1 Description
1.3.1 Introduction
1.3 Installation
1.3.1 Introduction
General
All versions of IRB 6650S are designed for floor mounting (no tilting allowed around
X-axis or Y-axis). Depending on the robot version, an end effector with max. weight
of 90 to 200 kg including payload, can be mounted on the mounting flange (axis
6). See Load diagrams on page 29 for IRB 6650S generation robots.
Extra Loads
Extra load (valve packages, transformers) of 50 kg, which is included in the load
diagrams, can be mounted on the upper arm. An extra load of 500 kg can also be
mounted on the frame of axis 1. See Mounting equipment on page 42 on IRB 6650S.
Working Range
The working range of axes 1-3 can be limited by mechanical stops.
Product specification - IRB 6650S
17
3HAC030822-001 Revision: T
© Copyright 2004-2017 ABB. All rights reserved.
1 Description
1.3.2 Operating requirements
1.3.2 Operating requirements
Protection standards
Robot version/ Protection standard
IEC60529
All variants, manipulator
IP67
Explosive environments
The robot must not be located or operated in an explosive environment.
Ambient temperature
Description
Standard/Option
Temperature
Manipulator during op- Standard
eration
+ 5°C i (41°F) to + 50°C (122°F)
For the controller
Standard/Option
See Product specification - Controller
IRC5 with FlexPendant
For the spot welding
cabinet
Standard
+ 5°C (41°F) to + 45°C (113°F)
Complete robot during Standard
transportation and storage
- 25°C (- 13°F) to + 55°C (131°F)
For short periods (not
exceeding 24 hours)
up to + 70°C (158°F)
i
Standard
At low environmental temperature < 10 o C is, as with any other machine, a warm-up phase
recommended to be run with the robot. Otherwise there is a risk that the robot stops or run with
lower performance due to temperature dependent oil and grease viscosity.
Relative humidity
Description
Relative humidiy
Complete robot during transportation and storage
Max. 95% at constant temperature
Complete robot during operation
Max. 95% at constant temperature
18
Product specification - IRB 6650S
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© Copyright 2004-2017 ABB. All rights reserved.
1 Description
1.3.3 Mounting the manipulator
1.3.3 Mounting the manipulator
Maximum Load
Maximum load in relation to the base coordinate system.
Floor Mounted
Force
Endurance load (in operation)
Max. load (emergency stop)
Force xy
± 10.6 kN
± 20.9 kN
Force z
28.2 ± 7.7 kN
28.2 ± 16.4 kN
Torque xy
± 28.2 kNm
± 31 kNm*
± 50.5 kNm
± 55.6 kNm*
Torque z
± 7.9 kNm
± 13.6 kNm
* When using base spacers (option 571-1).
xx1000000481
Note regarding Mxy and Fxy
The bending torque (Mxy) can occur in any direction in the XY-plane of the base
coordinate system.
The same applies to the transverse force (Fxy).
Continues on next page
Product specification - IRB 6650S
19
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1 Description
1.3.3 Mounting the manipulator
Continued
Fastening holes robot base - for IRB 6650S
xx1000000482
xx1000000483
Recommended srews for fastening the manipulator M24 x 140 8.8 with 4 mm flat washer
to the base
Torque value
725 Nm
Note
Only two guiding sleeves shall be used. The corresponding holes in the base
plate shall be circular and oval according to Figures below.
Regarding AbsAcc performance, the chosen guide holes according to Figures
below are recommended.
Continues on next page
20
Product specification - IRB 6650S
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© Copyright 2004-2017 ABB. All rights reserved.
1 Description
1.3.3 Mounting the manipulator
Continued
Base plate drawing
The following figure shows the option base plate (dimensions in mm).
G
D
H
2x R525
598,31
560,85
B
487,01
B
455
00)
950
(Ø 8
243,5
E
A
12x M24
Ø1 A
2x 450
F
A
0
231,5
73,84
111,30
0
73,84
317,3
560,85
502,04
634,68
2x 50x45º
132,64
C
C
4x
48
857,3
1020
(48
)
(4x)
6,3
(2
3x
45
)
0.3 Common Zone
13
E, F, G, H
º
1,6
A-A
Ø 45P7
Ø1.5
3x
45
(2
)
13
1,6
(2)
A
B-B
º
45
)
+0
,5
0,25 c
(2x R22,5)
3x
4
(2
0
5º
5 2,
3x R1
K7
47
c
1,6
3x 90º
C-C
D
xx1000001053
E, F, G, H Common tolerance zone (accuracy all over the base plate from one contact
surface to the other)
Continues on next page
Product specification - IRB 6650S
21
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1 Description
861 (2x)
0
18
358 (2x)
1.3.3 Mounting the manipulator
Continued
Ø16 (5x)
Ø22 (16x)
923 (4x)
882
905
813
800
748
565
475
385
202
150
137
68
27 (4x)
0
947 (2x)
991 (2x)
813 (2x)
630 (2x)
450 (2x)
2x365,3
2x311,1
293 (2x)
2x206,9
2x219,8
0
0
37 (2x)
87 (2x)
45
0
50
(A)
831
840,9
811,6
724,2
708,9
699,5
625 (2x)
R50 (12x)
4x Ø18.
325 (2x)
241,1
225,8
250,5
138,4
119
109,1
0
874,6 (2x)
790 (2x)
706 (2x)
290 (2x)
0
0
xx1000001054
Pos
Description
A
Color: RAL 9005
Thickness: 80-100 µm
Continues on next page
22
Product specification - IRB 6650S
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1 Description
1.3.3 Mounting the manipulator
Continued
xx1000001055
Pos
Description
A
Guide sleeve protected from corrosion
Product specification - IRB 6650S
23
3HAC030822-001 Revision: T
© Copyright 2004-2017 ABB. All rights reserved.
1 Description
1.4.1 Fine calibration
1.4 Calibration and references
1.4.1 Fine calibration
General
Fine calibration is made using the Calibration Pendulum, see Operating
manual - Calibration Pendulum or Axis calibration, see Product manual - IRB 6650S.
xx1000000487
Pos
Description
Pos
Description
A
Axis 1
B
Axis 2
C
Axis 3
D
Axis 4
E
Axis 5
F
Axis 6
Calibration
Calibration
Position
Calibration of all axes
All axes are in zero position
Calibration of axis 1 and 2
Axis 1 and 2 in zero position
Axis 3 to 6 in any position
Calibration of axis 1
Axis 1 in zero position
Axis 2 to 6 in any position
24
Product specification - IRB 6650S
3HAC030822-001 Revision: T
© Copyright 2004-2017 ABB. All rights reserved.
1 Description
1.4.2 Absolute Accuracy calibration
1.4.2 Absolute Accuracy calibration
General
Requires RobotWare option Absolute Accuracy, please see Product specification
- Controller software IRC5 for more details.
The calibration concept
Absolute Accuracy (AbsAcc) is a calibration concept, which ensures a TCP absolute
accuracy of better than ± 1 mm in the entire working range (working range of
bending backward robots, for example IRB 6650S, are limited to only forward
positions).
Absolute accuracy compensates for:
•
Mechanical tolerances in the robot structure
•
Deflection due to load
Absolute accuracy calibration is focusing on positioning accuracy in the cartesian
coordinate system for the robot. It also includes load compensation for deflection
caused by the tool and equipment. Tool data from robot program is used for this
purpose. The positioning will be within specified performance regardless of load.
Calibration data
The user is supplied with robot calibration data (compensation parameters saved
on the manipulator SMB) and a certificate that shows the performance (Birth
certificate). The difference between an ideal robot and a real robot without AbsAcc
may reach up to 8 mm, resulting from mechanical tolerances and deflection in the
robot structure.
If there is a difference, at first start-up, between calibration data in controller and
the robot SMB, correct by copying data from SMB to controller.
Absolute Accuracy option
Absolute Accuracy option is integrated in the controller algorithms for compensation
of this difference and does not need external equipment or calculation.
Absolute Accuracy is a RobotWare option and includes an individual calibration
of the robot (mechanical arm).
Continues on next page
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1 Description
1.4.2 Absolute Accuracy calibration
Continued
Absolute Accuracy is a TCP calibration in order to reach a good positioning in the
Cartesian coordinate system.
xx1000000488
Production data
Typical production data regarding calibration are:
Robot
Positioning accuracy (mm)
Average
Max
% Within 1 mm
IRB 6650S-125/3.50
IRB 6650S-200/3.00
0,50
1,20
97
IRB 6650S-90/3.9
a
a
a
a. For detailed data and data missing in the table, please contact ABB for more
information.
26
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1 Description
1.4.3 Robot references
1.4.3 Robot references
Base
The holes shown in figure below are used for measuring the robot position when
integrated in a production cell.
The holes are not available for option Foundry Plus.
282,84
R=
400
282,84
45
Y
4)
° (x
315
X
B
B
A
A
Ø 24 (x1)
Ø 24 (x4)
12 (x4)
Ø12H8
12 (x1)
134
88
Ø 12H8
A-A
B-B
xx1000000645
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1 Description
1.4.3 Robot references
Continued
A
A
xx1000000492
xx1000000493
Robot
Radius X (mm) for references on tool flange
IRB 6650S-90/3.90
IRB 6650S-125/3.50
IRB 6650S-200/3.00
R=87,5
28
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1 Description
1.5.1 Introduction to Load diagrams
1.5 Load diagrams
1.5.1 Introduction to Load diagrams
Information
WARNING
It is very important to always define correct actual load data and correct payload
of the robot. Incorrect definitions of load data can result in overloading of the
robot.
If incorrect load data and/or loads are outside load diagram is used the following
parts can be damaged due to overload:
•
motors
•
gearboxes
•
mechanical structure
WARNING
In the robot system is the service routine LoadIdentify available, which allows
the user to make an automatic definition of the tool and load, to determine correct
load parameters. Please see Operating Manual - IRC5 with FlexPendant, art. No.
3HAC16590-1, for detailed information.
WARNING
Robots running with incorrect load data and/or with loads outside diagram, will
not be covered by robot warranty.
General
The load diagrams include a nominal payload inertia, J0 of 15 kgm 2 , and an extra
load of 50 kg at the upper arm housing.
At different moment of inertia the load diagram will be changed. For robots that
are allowed tilted, wall or inverted mounted, the load diagrams as given are valid
and thus it is also possible to use RobotLoad within those tilt and axis limits.
Continues on next page
Product specification - IRB 6650S
29
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1 Description
1.5.1 Introduction to Load diagrams
Continued
Control of load case by "RobotLoad"
To easily control a specific load case, use the calculation program ABB RobotLoad.
Contact your local ABB organization for more information.
The result from RobotLoad is only valid within the maximum loads and tilt angles.
There is no warning if the maximum permitted armload is exceeded. For over load
cases and special applications, contact ABB for further analysis.
xx1000000494
Pos
Description
A
Center of gravity 50 kg
30
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1 Description
1.5.2 Load diagrams
1.5.2 Load diagrams
IRB 6650S-125/3.5
xx1000000547
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1 Description
1.5.2 Load diagrams
Continued
IRB 6650S-125/3.5 “Vertical Wrist” (±10 o )
L
10º 10º
Z
200 m m
L (m)
0,20
0,40
0,60
0,80
1,00
1,20
1,40
1,60
0,0
150 kg
0,20
135 kg
0,40
120 kg
Z - (m )
110 kg
0,60
100 kg
0,80
1,00
1,20
1,40
1,60
xx1000000550
For wrist down (0 o deviation from the vertical line).
Description
Max load
150 kg
Zmax
0,462 m
Lmax
0,156 m
Continues on next page
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1 Description
1.5.2 Load diagrams
Continued
IRB 6650S-125/3.5 LeanID, option 780-4
1,00
0,90
70 kg
0,80
75 kg
0,70
80 kg
Z - (m)
0,60
85 kg
0,50
90 kg
0,40
95 kg
0,30
100 kg
0,20
105 kg
0,10
0,00
349 mm
0,10
0,20
0,30
0,40
0,50
0,60
0,70
0,80
L - (m)
xx1500000781
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1 Description
1.5.2 Load diagrams
Continued
IRB 6650S-90/3.9
xx1000000549
Continues on next page
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1 Description
1.5.2 Load diagrams
Continued
IRB 6650S-90/3.9 “Vertical Wrist” (±10o)
xx1000000551
For wrist down (0 o deviation from the vertical line).
Description
Max load
107 kg
Zmax
0,2 m
Lmax
0,1 m
Continues on next page
Product specification - IRB 6650S
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1 Description
1.5.2 Load diagrams
Continued
IRB 6650S-200/3.0
xx1000000548
Continues on next page
36
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1 Description
1.5.2 Load diagrams
Continued
IRB 6650S-200/3.0“ Vertical Wrist” (±10 o )
xx1000000552
For wrist down (0 o deviation from the vertical line).
Description
Max load
245 kg
Zmax
0,345 m
Lmax
0,098 m
Continues on next page
Product specification - IRB 6650S
37
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1 Description
1.5.2 Load diagrams
Continued
IRB 6650S-200/3.0 LeanID, option 780-4
0,80
0,70
100 kg
0,60
120 kg
0,50
Z - (m)
140 kg
0,40
160 kg
180 kg
0,30
190 kg
195 kg
0,20
200 kg
0,10
0,00
349 mm
0,10
0,20
0,30
0,40
0,50
0,60
L - (m)
xx1500000780
38
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1 Description
1.5.3 Maximum load and moment of inertia for full and limited axis 5 (center line down) movement
1.5.3 Maximum load and moment of inertia for full and limited axis 5 (center line
down) movement
Note
Note
Total load given as: Mass in kg, center of gravity (Z and L) in meter and moment
of inertia (Jox, Joy, Joz ) in kgm 2 . L= ÷(X 2 + Y 2 ), see Figure below.
Full movement of axis 5 (±120 o )
Axis Robot Type
Maximum moment of inertia
5
125/3.5, 200/3.0 and
90/3.9
Ja5 = Load x ((Z + 0,200 i ) 2 + L 2 ) + max (J0x, J0y) ≤ 250
125/3.5, 200/3.0 and
90/3.9
Ja6 = Load x L 2 + J0Z ≤ 185 kgm 2
6
i
kgm 2
For option 780-4, LeanID=0,349 m
xx0900000774
Pos
Description
A
Center of gravity
Description
Jox, Joy, Joz
Max. moment of inertia around the X, Y and Z axes at center of gravity.
Limited axis 5, center line down
Axis Robot Type
Maximum moment of inertia
5
125/3.5, 200/3.0 and
90/3.9
Ja5 = Load x ((Z + 0,200 i ) 2 + L 2 ) + max (J0x, J0y) ≤
125/3.5, 200/3.0 and
90/3.9
Ja6 = Load x L 2 + J0Z ≤ 250 kgm 2
6
i
275kgm 2
For option 780-4, LeanID=0,349 m
Continues on next page
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39
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1 Description
1.5.3 Maximum load and moment of inertia for full and limited axis 5 (center line down) movement
Continued
xx0900000775
Pos
Description
A
Center of gravity
Description
Jox, Joy, Joz
Max. moment of inertia around the X, Y and Z axes at center of gravity.
40
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1 Description
1.5.4 Wrist torque
1.5.4 Wrist torque
General
The table below shows the maximum permissible torque due to payload.
Note
Note! The values are for reference only, and should not be used for calculating
permitted load offset (position of center of gravity) within the load diagram, since
those also are limited by main axes torques as well as dynamic loads. Also arm
loads will influence the permitted load diagram. For finding the absolute limits
of the load diagram, please use the ABB RobotLoad. Please contact your local
ABB organization.
Robot type
Max wrist torque
axis 4 and 5
Max wrist torque Max torque valid
axis 6
at load
IRB 6650S-200/3.0
1264 Nm
625 Nm
192 kg
IRB 6650S-125/3.5
1037 Nm
526 Nm
105 kg
IRB 6650S-90/3.9
495 Nm
438 Nm
60 kg
Product specification - IRB 6650S
41
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1 Description
1.6.1 Introduction
1.6 Mounting equipment
1.6.1 Introduction
General
Extra loads can be mounted on the upper arm housing, the lower arm, and on the
frame. Definitions of distances and masses are shown in the next two Figures. The
robot is supplied with holes for mounting extra equipment (see Figure in next
chapter). Maximum allowed arm load depends on center of gravity of arm load and
robot payload.
Upper arm
Allowed extra load on upper arm housing plus the maximum handling weight(see
Figure below):
M1 ≤ 50 kg with distance a ≤ 500 mm, center of gravity in axis 3 extension.
xx1000000495
Pos
Description
A
Mass center
Continues on next page
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1 Description
1.6.1 Introduction
Continued
Frame (Hip Load)
Description
Permitted extra load on frame
JH = 200 kgm 2
Recommended position
(see Figure below)
JH = JH0 + M4 x R 2
where:
JH0 is the moment of inertia of the equipment
R is the radius (m) from the center of axis 1
M4 is the total mass (kg) of the equipment including
bracket and harness (≤ 500 kg)
xx1000000496
Pos
Description
A
View from above
B
View from the rear
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43
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1 Description
1.6.2 Mounting of hip load
1.6.2 Mounting of hip load
General
The extra load can be mounted on the frame. Holes for mounting see next two
Figures. When mounting on the frame all four holes (2x2, Ø 16) on one side must
be used.
If loads exceeding 50 kg is required on lower arm, use the calculation program
ABB RobotLoad, please contact your local ABB organization.
6650S
xx1000000497
Continues on next page
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1 Description
1.6.2 Mounting of hip load
Continued
xx1000000498
Pos
Description
A
R 946 (Rear side, Balancing device)
B
R 813 (Front side, Motor axis 2)
Continues on next page
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45
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1 Description
1.6.2 Mounting of hip load
Continued
Tool flange also valid for LeanID.
xx1000000499
Pos
Description
A
Minimum thread length for screws in M12-hole is 9 mm.
B
Ø 12 H7 Depth 15
C
Ø 100 H7 Depth 8 min
For fastening of gripper-tool-flange to robot-tool-flange (see Figure above) all bolt
holes for 11 bolts quality class 12.9 shall be used.
46
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1 Description
1.7.1 Introduction
1.7 Maintenance and troubleshooting
1.7.1 Introduction
General
The robot requires only minimum maintenance during operation. It has been
designed to make it as easy to service as possible:
•
Maintenance-free AC motors are used.
•
Oil is used for the gear boxes.
•
The cabling is routed for longevity, and in the unlikely event of a failure, its
modular design makes it easy to change.
Maintenance
The maintenance intervals depend on the use of the robot, the required maintenance
activities also depends on selected options. For detailed information on maintenance
procedures, see Maintenance section in the Product Manual.
Product specification - IRB 6650S
47
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1 Description
1.8.1 Introduction
1.8 Robot motion
1.8.1 Introduction
Type of Motion
Axis
Type of motion
Range of movement, IRB 6650S
1
Rotation
Motion
+ 180° to - 180°
+ 220° to - 220° (option)
2
Arm motion
+ 160° to - 40°
3
Arm motion
+ 70° to - 180°
4
Wrist motion
+ 300° to - 300°
5
Bend motion
+ 120° to - 120°
6
Turn motion
+ 360° to - 360° default
± 96 Rev i Max. ii
i
ii
Rev. = Revolutions
The default working range for axis 6 can be extended by changing parameter values in the software.
Option 610-1 “Independent axis” can be used for resetting the revolution counter after the axis has
been rotated (no need for “rewinding” the axis).
Note
Note! For limitation of range of motion in combination with DressPack see
Introduction on page 48.
Axis 5
Working range axis 5 and 6 for LeanID, option 780-4
Allowed working area for axis 6 related to axis 5 position is shown in the figure
below.
Axis 6
xx1500000888
Continues on next page
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1 Description
1.8.1 Introduction
Continued
Robot Type
Handling capacity (kg)
Reach (m)
IRB 6650S
200
3.0
xx1000000500
Pos
Description
A
Marked area not available under the robot base.
Continues on next page
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1 Description
1.8.1 Introduction
Continued
Robot Type
Handling capacity (kg)
Reach (m)
IRB 6650S
125
3.5
xx1000000502
Pos
Description
A
Marked area not available under the robot base.
Continues on next page
50
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1 Description
1.8.1 Introduction
Continued
Robot Type
Handling capacity (kg)
Reach (m)
IRB 6650S
90
3.9
xx1000000501
Pos
Description
A and B
Marked area, max. payload 50 kg
B
Marked area not available under the robot base
Product specification - IRB 6650S
51
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1 Description
1.8.2 Performance according to ISO 9283
1.8.2 Performance according to ISO 9283
General
At rated maximum load, maximum offset and 1.6 m/s velocity on the inclined ISO
test plane, with all six axes in motion. Values in the table below are the average
result of measurements on a small number of robots. The result may differ
depending on where in the working range the robot is positioning, velocity, arm
configuration, from which direction the position is approached, the load direction
of the arm system. Backlashes in gearboxes also affect the result.
The figures for AP, RP, AT and RT are measured according to figure below.
xx0800000424
Pos
Description
Pos
Description
A
Programmed position
E
Programmed path
B
Mean position at program
execution
D
Actual path at program execution
AP
Mean distance from programmed position
AT
Max deviation from E to average path
RP
Tolerance of position B at re- RT
peated positioning
Tolerance of the path at repeated
program execution
IRB 6650S
125/3.5
200/3.0
90/3.9
Pose accuracy, AP a (mm)
0.16
0.13
b
Pose repeatability, RP (mm)
0.13
0.14
b
Pose stabilization time, PSt (s) 0.33
within 0.4 mm of the position
0.18
b
Path accuracy, AT (mm)
2.58
2.98
b
Path repeatability, RT(mm)
0.90
0.70
b
a. AP according to the ISO test above, is the difference between the teached
position (position manually modified in the cell) and the average position obtained
during program execution.
b. The values for IRB 6650S-90/3.9 are not available.
The above values are the range of average test results from a number of robots.
52
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1 Description
1.8.3 Velocity
1.8.3 Velocity
Maximum axis speeds
Robot Type
Axis 1
Axis 2
Axis 3
Axis 4
Axis 5
Axis 6
IRB 6650S-90/3.9
100°/s
90°/s
90°/s
150°/s
120°/s
235°/s
IRB 6650S-125/3.5
110°/s
90°/s
90°/s
150°/s
120°/s
235°/s
IRB 6650S-200/3.0
100°/s
90°/s
90°/s
150°/s
120°/s
190°/s
There is a supervision function to prevent overheating in applications with intensive
and frequent movements.
Axis Resolution
0.001° to 0.005°.
Product specification - IRB 6650S
53
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1 Description
1.8.4 Robot stopping distances and times
1.8.4 Robot stopping distances and times
Introduction
The stopping distances and times for category 0 and category 1 stops, as required
by EN ISO 10218-1 Annex B, are listed in Product specification - Robot stopping
distances according to ISO 10218-1 (3HAC048645-001).
54
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1 Description
1.9.1 Introduction
1.9 Cooling fan for axis 1 and 2 motor
1.9.1 Introduction
Option 87-1, 88-1
To be used to avoid overheating of motors and gears in applications with intensive
motion (high average speed and /or high average torque and/or short wait time)
of axis 1 and/or axis 2.
Valid protection for cooling fan is IP54. Fan failure stops the robot. The option is
not allowed to select when the robot is placed on a track motion, IRBT.
To determine the use of cooling fans for axis 1 and/or axis 2 motor use the “Gearbox
Heat Prediction Tool” in RobotStudio. Reliable facts for the decision of need for
fan or not will be achieved by entering the ambient temperature for a specific cycle.
Please contact your local ABB organization.
Product specification - IRB 6650S
55
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1 Description
1.10.1 Introduction
1.10 Servo gun
1.10.1 Introduction
General
The robot can be supplied with hardware and software for control of the following
configurations:
•
Stationary Gun
•
Robot Gun
•
Robot Gun and Track Motion
•
Track motion
The specific parts related to the servo motor control for electrical welding guns
and for track motion configurations are shown in the conceptual pictures below.
The major parts and required options are also stated in the configurations lists
below each picture.
The cables for control of the basic robot are shown in the pictures with dotted lines.
56
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1 Description
1.10.2 Stationary Gun
1.10.2 Stationary Gun
General
xx1000000507
Options
Options according to the table below are required to complete the delivery. For
further details on each option see corresponding Product specification.
Option
Description
785-5
Stationary gun. This option includes:
Cable G (7 m length) for resolver signals from
robot base (FB7) to stationary gun/axis 7.
770-4
First additional drive. Drive unit for 7th axis with Controller IRC5 with
corresponding cables assembled inside Drive FlexPendant
Module.
786-1,-2,-3,-4
Connection to first drive.
Cable A (7-30 m) between Drive Module and
stationary gun/axis 7 for servo drive power.
635-3, -4 or -5
Spot Servo, Spot Servo Multiple Guns or Spot
Servo Equalizing.
Product specification - IRB 6650S
Product specification
Controller software
IRC5
57
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1 Description
1.10.3 Robot Gun
1.10.3 Robot Gun
General
xx1000000506
Options
Options according to table below are required to complete the delivery. For further
details on each option see corresponding Product specification.
Option
Description
785-1
Robot gun. This option includes:
Cables within manipulator for servo power signals (servo gun/axis 7).
770-4
First additional drive. Drive unit for 7th axis with Controller IRC5 with
corresponding cables assembled inside Drive FlexPendant
Module.
786-1,-2,-3,-4
Connection to first drive.
Cable A (7-30 m) between Drive Module and robot base for servo drive power.
635-3, -4 or -5
Spot Servo, Spot Servo Multiple Guns or Spot
Servo Equalizing.
58
Product specification
Controller software
IRC5
Product specification - IRB 6650S
3HAC030822-001 Revision: T
© Copyright 2004-2017 ABB. All rights reserved.
1 Description
1.10.4 Robot Gun and Track Motion IRBT 6004
1.10.4 Robot Gun and Track Motion IRBT 6004
General
Axis 7
FB7
B
Control
Module
SMB
SMB
Axis 8 M
F
Drive
Module
E
xx1000000505
Options
Options according to table below are required to complete the delivery. For further
details on each option see corresponding Product specification.
Option
Description
Product specification
785-1+1002-2 i
Robot Gun - Track Motion. This option inTrack motionIRBT
cludes:Cables within manipulator for servo power 6004 + IRB 6600
signals (servo gun/axis 7).
Track motion deliv- Serial measurement box (SMB2, Split box) for Track motionIRBT
ery includes
distribution of servo power to axis 8.
6004/IRBT 7004
The box is placed on the track motion.
Cables from serial measurement box to track
motion.
Cable B for servo power (1,5 m length).Connection to first and second drive.
Cable E and F (7-22 m) between Drive Module
and serial measurement box for dual servo drive
power/resolver signals.
907-1
First additional drive. Drive unit for 7th axis with Controller IRC5 with
corresponding cables assembled inside Drive FlexPendant
Module.
907-1
Second additional drive. Drive unit for 8th axis Controller IRC5 with
with corresponding cables assembled inside
FlexPendant
Drive Module.
635-3, -4 or -5
Spot Servo, Spot Servo Multiple Guns or Spot
Servo Equalizing.
864-1
Resolver connection, axis 7, on base (FB7).
i
Controller software
IRC5
To specify robot on track equipped with servo gun. Option 1002-2 from specification form for Track
Motion.
Product specification - IRB 6650S
59
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1 Description
1.10.5 Track Motion IRBT 6004
1.10.5 Track Motion IRBT 6004
General
The robot can be supplied with a Track Motion, see Product specification - IRBT
6004. For configuration and specification of hardware see Figure below.
FB7
SMB
Axis 7 M
Control
Module
E
Drive
Module
xx1000000504
Note
General. The robot can be combined with a Track Motion, for further details see
Product specification - IRBT 6004/IRBT 7004.
Options
Options according to table below are required to complete the delivery. For further
details on each option see corresponding Product specification.
Option
Description
Product
specification
Track motion deliv- Serial measurement (SMB) in manipulator is
Track motionIRBT
ery includes
used, together with option 864-1, FB7 for signals 6004/IRBT 7004
to axis 7/Track motion.
Cable E for between Drive Module and track
motion servo for drive power.
907-1
First additional drive. Drive unit for 7th axis with
corresponding cables assembled inside Drive
Module.
864-1
Resolver connection, axis 7, on base (FB7).
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2 SpotPack and DressPack
2.1.1 General
2 SpotPack and DressPack
2.1 Introduction
2.1.1 General
DressPack
Includes options for Upper arm, Lower arm and Floor pos C, D and E, see Figure
below. These are described separately below but are designed as a complete
package for various applications.
The DressPack for the floor contains customer signals.
The DressPack for upper and lower arm contains process cable packages including
signals, process media (water and/or air) and power feeding (for Spot Welding
power) for customer use.
Necessary supports and brackets are also included.
The routing of the process cable package on the robot is available in different
configurations.
Continues on next page
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2 SpotPack and DressPack
2.1.1 General
Continued
Spotpack
The package supplies the transformer gun/gripper with necessary media, such as
compressed air, cooling water and electrical power. It includes aboved descrided
DressPack + Spot Welding cabinet, Water And Air unit pos A and F (if included)
and SoftWare, see Figure below.
(A)
(E)
(D)
(F)
(C)
(B)
xx1000000424
Pos
Description
A
SpotPack, Spot Welding cabinet
B
Robot controller, (including 7th axis drive for servo gun)
C
DressPack, Floor
D
DressPack, Lower arm
E
DressPack, Upper arm
F
SpotPack, Water and Air unit
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2 SpotPack and DressPack
2.1.2 Product range
2.1.2 Product range
DressPack solutions for different user’s needs
The robot can be equipped with the well integrated cable and hose packages in
the SpotPack or DressPack options. The DressPack is designed in close conjunction
with the development of the manipulator and is therefore well synchronized with
the robot.
As there is a big span between different user’s need of flexibility, depending of the
complexity of the operation/wrist movements, there are three major levels of dress
pack solutions available, see Figure below.
Complexity in
wrist movements
High flexibility demand
on production line
Integrated
LeanID, MH/SW 6
External with
retract arm
External
Medium flexibility demand
on production line,
MH/SW 2
Low flexibility demand
on production line, MH3
Performance/
Functionality
xx1500000887
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2 SpotPack and DressPack
2.1.2 Product range
Continued
External with retract arm
This type of dress pack is recommended for production where there are limited
complexity in wrist movements. This normally occurs when there are not to many
different products running in the same production cell.
Available option are 798-2 and 780-2 for both material handling/spot welding.
Integrated
This type of dress pack is intended for a production where there are many complex
wrist movements and the need for flexibility in changing products is high.
Available options are 798-3 and 780-4 for material handling/spot welding, the LeanID
concept.
External
This type of dress pack is recommended where there are less complexity in wrist
movements. This normally occurs when there are not many different products
running in the production cell. This package requires more individual adjustment
to optimize towards robot program at set up.
Available options are 798-3 and 780-3 for material handling.
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2 SpotPack and DressPack
2.1.3 Limitations of robot movements
2.1.3 Limitations of robot movements
General
When using DressPack options on the upper arm the robot movements will be
limited. The position of bracket installed on axis 6 must be taken in consideration
when optimizing the possible robot movements.
•
The axis 5 working range is limited to +/- 110 degrees due to the axis 6 bracket
attachment (when applicable).
•
In bending backwards positions there are limitations due to inteference with
manipulator or Water and Air unit (if such is mounted).
Note
For more detail information please contact Serop Product support/SEROP/ABB.
E-mail address: [email protected]
Restrictions for LeanID, option 780-4
Limitation for axis 5 and 6 depends on how the dresspack is assembled at the tool
and how adjustment has been done.
Axis
Working range
Axis 5
100 o to -100 o
Axis 6
220 o to -220 o
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2 SpotPack and DressPack
2.1.4 Impact on dress pack lifetime
2.1.4 Impact on dress pack lifetime
General
There are some robot movements/positions that shall be avoided in the robot
production program. This will improve the lifetime significantly of external upper
arm dress pack and wear parts e.g. protection hose, hose reinforcement and
protective sleeves.
•
The axis 5 movement is not allowed to press the DressPack against the robot
upper arm.
•
Combined rotation of the wrist axes must be limited so that the DressPack
is not wrapped hard against the upper arm.
See the Product Manual for more detailed information and recommended set-up
adjustments
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2 SpotPack and DressPack
2.1.5 Chapter Structure
2.1.5 Chapter Structure
General
The Chapters for SpotPack and DressPack are structured in the following way.
The SpotPack and DressPack can be delivered in five versions developed for two
different applications. Each type is described under separate chapter.
Chapter
Option
Description
2.2
DressPack
DressPack includes general description DressPack with
common information.
Material Handling application / DressPack
Chapter
Option
Description
2.3
Type H
DressPack for Material Handling.
Spot Welding application / SpotPack and DressPack
Chapter
Option
Description
2.4
Type S
SpotPack for pneumatic transformer guns carried by
the robot manipulator.
2.5
HS
2.6
Type Se
SpotPack for electrical servo driven transformer guns
carried by the robot manipulator.
2.7
Type HSe
SpotPack for handling the part against electrical servo
driven transformer guns stationary mounted.
2.8
Spot Welding Cabin- Includes general description of Spot Welding cabinet
et
with common information.
2.9
Water and Air unit
Includes general description of Water and Air unit with
common information.
Chapter
Option
Description
2.10
Connetor Kits
Includes general description of Connector kits for
SpotPack and DressPack.
Connector Kits
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2 SpotPack and DressPack
2.2.1 Introduction
2.2 DressPack
2.2.1 Introduction
Available DressPack configurations for Material Handling
The table below shows the different DressPack configurations available for Material
Handling.
Option 778-1,
Material Handling
Lower arm
Upper arm
Option 798-3, Base to axis 3
Option 780-3, Axis 3 to 6
External routing
Option 780-4 Axis 3 to 6
Internal routing
Option 798-2, Base to axis 2
Option 780-2, Axis 2 to 6
External routing
Available DressPack configurations for Spot Welding
The table below shows the different DressPack configurations available for Spot
Welding.
Option 778-2,
Spot Welding
Lower arm
Upper arm
Option 798-2, Base to axis 2
Option 780-2, Ext. Axis 2 to
axis 6
External routing
Option 798-3, Base to axis 3
Option 780-4, Int. Axis 3 to 6
(LeanID)
Internal routing
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2 SpotPack and DressPack
2.2.2 Build-in features for upper arm DressPack
2.2.2 Build-in features for upper arm DressPack
External
Material handling (option 780-3):
•
Internal routing through the rear part of the upper arm.
•
Protection hose can easily be replaced if damaged.
•
One version for all IRB 6650S versions.
•
Adjustment for optimal hose/cable lengths.
•
Easy exchange of DressPack
External with retract arm
Spot welding and Material handling (option 780-2):
•
Adjustable bracket axis 6 with position marking.
•
Adjustable retracting force to optimize the system depending on cycle and
hose package.
Internal
Spot welding and Material handling (option 780-4):
•
Partly internal routing through the upper arm.
•
Suitable for complex movements.
•
High demands for flexibility and accessibility.
•
Longer life time
•
Predictable movements
•
Easy exchange of DressPack
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2 SpotPack and DressPack
2.2.3 Interface descriptions for DressPack
2.2.3 Interface descriptions for DressPack
General
Below is an overview showing the different dresspack interfaces. For detailed
information see the circuit diagram included in Product
manual - DressPack/SpotPack IRB 6650S/7600.
(C)
(B)
(A)
(D)
xx1300000217
Pos
Location
Options
A
Base
798-2, 798-3 and 864-1
B
Axis 2
798-2
C
Axis 3
798-3
D
Axis 6
780-2, 780-3 and 780-4
Continues on next page
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2.2.3 Interface descriptions for DressPack
Continued
Base
Material handling (option 798-2, -3), see figure below:
•
Included are: A, B (if applicable), one D (Proc 1) and E (if applicable).
Spot welding (option 798-2), see figure below:
•
Included are: A, B (if applicable), C, D (Proc 1-4) and E (if applicable).
(A)
(C)
(B)
(E)
(D)
xx1000000619
For corresponding parts of the tool, see Connection kits on page 147.
Pos
Description
A
R1.CP/CS
B
R1.SP (Spot Welding Servo gun) or FB7 (Resolver connection)
C
R1.WELD 3x35mm2. (Spot Welding)
D
R1.PROC 1 (Material Handling/Spot Welding 1/2”, M22x1.5, 24 degree seal)
R1.PROC 2 - 4 (Spot Welding 1/2”, M22x1.5, 24 degree seal)
E
R1.ETHERNET (M12 connector, when EtherNet communication is selected)
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2 SpotPack and DressPack
2.2.3 Interface descriptions for DressPack
Continued
Axis 2
Material handling (option 798-2), see figure below:
•
Included are: A, B (if applicable) and one D (Proc 1).
Spot welding (option 798-2), see figure below:
•
Included are: A, B (if applicable), C and D (Proc 1-4).
(B)
(C)
(A)
(D)
xx1100000957
For corresponding parts of the tool, see Connection kits on page 147.
Pos
Description
A
R2.CP/CS
B
R2.ETHERNET (M12 connector, when EtherNet communication is selected)
C
R2.WELD 3x35 mm2. (Spot Welding)
D
R2.PROC 1 (Material Handling/Spot Welding 1/2”, M22x1.5, 24 degree seal)
R1.PROC 2 - 4 (Spot Welding 1/2”, M22x1.5, 24 degree seal)
Continues on next page
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2 SpotPack and DressPack
2.2.3 Interface descriptions for DressPack
Continued
Axis 3
Material handling (option 798-3), see figure below:
•
Included are: A, B/G (if applicable) and one C (Proc 1).
Spot Welding (option 798-3), see figure below:
•
Included are: A, B/E/F/G (if applicable) and one C (Proc 1-4).
(E)
R2.FB
(D)
(F)
(B)
R2.SP
(G)
R2.CP/CS
(A)
R2.PROC4
R2.PROC3
R2.ETHERNET
R2.PROC2
R2.CBUS
R2.PROC1
(C)
xx1200000072
For corresponding parts of the tool, see Connection kits on page 147.
Pos
Description
A
R2.CP/CS
B
R2.ETHERNET (M12 connector, when EtherNet communication is selected)
C
R2.PROC 1 (Material Handling 1/2”, M22x1.5, 24 degree seal)
R2.PROC 2-4 (Spot Welding 1/2", M22xz1.5, 24 degree seal)
D
R2.WELD 3x35 mm 2 (Spot Welding)
E
R2.FB7
F
R2.SP (Spot Welding Servo Gun)
G
R2.CBUS (UTOW connector when Profibus or DeviceNet communication is
selected)
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2 SpotPack and DressPack
2.2.3 Interface descriptions for DressPack
Continued
Axis 6
External
Material handling (option 780-3), see figure below:
•
Hose and cable free length, min. 1000 mm.
•
Air hose ends with free end.
The cable ends with a connector, for corresponding parts of the tool, see Connection
kits on page 147:
xx0900000728
External with retract arm
Spot welding/Material handling (option 780-2), see figure below:
•
Hose and cable free length, min. 1000 mm.
•
Hoses and weld power cable (only for spot welding) end with free end.
•
All signals are connected with a Harting connector.
The cable ends with a connector, for corresponding parts of the tool, see Connection
kits on page 147 and within the Harting product offer.
xx0900000729
Continues on next page
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2 SpotPack and DressPack
2.2.3 Interface descriptions for DressPack
Continued
EtherNet connector
Spot welding/Material handling (option 780-2/-3), see figure below:
•
Cable free length, min. 1000 m.
•
Signals are connected with a M12 connector.
The cable ends with a connector, the different main parts within the connector are
described in the list below, for corresponding parts of the tool, see within the
Phoenix product offer.
Name
Harting article
PIN connector, R3.ETHERNET
21 03 882 1405
PIN
61 03 000 0094
Sealing cap M12x1
3HAC033600-001 ABB article
xx1100000956
Integrated
Material Handling/Spot Welding option 780-4 (LeanID), see figure below:
•
Hose and cable free length, min. 1160 mm.
•
Hoses and weld power cable (only for spot welding) end with free end.
The cable ends with connectors, for corresponding parts of the tool, see Axis 6 Connector kits on page 151 and within the UTOW product offer.
(B)
(A)
(G)
(F)
(E)
(C)
(D)
xx1200000117
Continues on next page
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2.2.3 Interface descriptions for DressPack
Continued
Pos
Description
A
R3.CP/CS (UTOW connector 26p) Customer signals and power
B
R3.ETHERNET (M12 connector) EtherNet signals (when EtherNet communication is selected)
C
R3.PROC 1-2 (1/2”, freeend) R3.PROC 2-4 (3/8”, free end) Media hoses
D
R3.WELD 3x25mm 2 (Free end) Spot Welding power
E
R3.FB7 (M23 connector 17p) Servo motor power (when Spot Welding Servo
gun is selected)
F
R3.SP (M23 connector 8p) Servo motor feedback (when Spot Welding Servo
gun is selected)
G
R3.CBUS (UTOW connector 10p) BUS signals (when Profibus or DeviceNet
communication is selected)
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2 SpotPack and DressPack
2.2.4 Dimensions
2.2.4 Dimensions
General
Dimensions are shown in Figures below.
xx1000000513
Continues on next page
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2 SpotPack and DressPack
2.2.4 Dimensions
Continued
xx1000000515
xx1000000442
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2 SpotPack and DressPack
2.3.1 Introduction
2.3 Type H
2.3.1 Introduction
General
Variant Type H is designed for Material Handling (MH) application. Included modules
are shown in Figure below.
xx1000000516
Pos
Name
A
Robot Cabinet IRC5
B
DressPack, Floor
C
DressPack, Lower arm
D
DressPack, Upper arm
E
Robot Gripper
Available configurations with linked option numbers are described below.
Continues on next page
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2 SpotPack and DressPack
2.3.1 Introduction
Continued
Option description
Option
Type
Description
16-1
Connection to cabinet
Floor cables and connections inside the I/O section
for the DressPack are chosen. The length and configuration of the floor harness is specified under the
options below.
Option 94-1,-2,-3,-4 for parallel communication.
Option 90-2,-3,-4,-5 for parallel communication and
field bus communication with Can/DeviceNet.
Option 92-2,-3 for parallel communication and field
bus communication with Profibus.
455-1
Parallel communication
Offers the signal cables needed for parallel communication in lower and upper arm DressPack. To be
combined with option 94-1,-2,-3,-4,-5.
455-4
Parallel and Bus communic- Offers the signal cables needed for the combination
ation
of parallel and bus communication in lower and upper arm DressPack. To be combined with option 902,-3,-4,-5 or 92-2,-3.
455-8
Parallel and Ethernet
Offers the signal cables needed for the Ethernet
communication in combination in lower and upper
arm DressPack. To be combined with option 859-1,2,-3,-4. Requires selection of option 94-X.
The available alternatives and allowed combinations are shown in the schematic
table below.
Application Interface Option 455-1,
Option 94-1,-2,-3,-4
Option 778-1,
connected to Option Parallel communication Cable length, Parallel
Material handling
16-1,
communication
Cabinet
Option 455-4,
Option 90-2,-3,-4,-5
Parallel and bus commu- Option 92,2,-3
nication
Cable length, Parallel and
bus communication
Option 455-8, Parallel Option 859-1, -2, -3, -4
and Ethernet communic- Cable length, Ethernet
ation
communication
Continued
Option 778-1,
Material Handling
Lower arm
Upper arm
Option 798-3, Base to axis 3
Option 780-3, Axis 3 to 6
External routing
Option 780-4, Axis 3 to 6
Internal routing
Option 798-2, Base to axis 2
80
Option 780-2, Axis 2 to 6
External routing
Product specification - IRB 6650S
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2 SpotPack and DressPack
2.3.2 Configuration result for Type H
2.3.2 Configuration result for Type H
General
Depending on the choice of options above the DressPack will have different content.
The choice of routing will not affect the content. See tables for signal content below.
DressPack Type H. Parallel communication
• Option 16-1 with Connection to cabinet
•
(Option 94-1,-2,-3,-4 to specify cable length)
•
Option 455-1. Parallel communication
•
Option 778-1. Material Handling
•
Option 798-2 or Option 798-3. Internal routing, DressPack Lower arm
One of the options:
•
Option 780-2 (and Option 798-2). External routing with retract arm
•
Option 780-3 or 780-4 (and option 798-3). External/Internal routing
The table below shows the available type of wires/media.
Type
At terminals At connection Cable/part Allowed capacity
in cabinet
point. Base, Ax- area
is 2/3 or axis 6
Customer Power (CP)
Utility Power
2+2
Protective earth
2+2
0,5 mm 2
250 VAC, 5 A rms a
1
0,5 mm 2
250 VAC b
Customer Signals (CS)
Signals twisted pair
20
20 (10x2) b
0,24 mm 2 50 V DC, 1 A rms
Signals twisted pair and
separate shielded
8
8 (4x2)
0,24 mm 2 50 V DC, 1 A rms
1
12,5 mm
inner diameter
Media
Air (PROC 1)
Max. air pressure
16 bar/230 PSI
a. For option 780-3 50 VAC / 60 VDC.
b. For option 780-3 8 signals instead of 20.
Continues on next page
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2 SpotPack and DressPack
2.3.2 Configuration result for Type H
Continued
DressPack Type H. Parallel and field bus communication, Can/DeviceNet
• Option 16-1 with Connection to cabinet
•
(Option 90-2,-3,-4,-5 to specify cable length)
•
Option 455-4. Parallel and bus communication
•
Option 778-1. Material Handling
•
Option 798-2 or Option 798-3 Internal routing, DressPack Lower arm
One of the options:
•
Option 780-2 (and Option 798-2). External routing with retract arm
•
Option 780-3 or 780-4 (and option 798-3). External/Internal routing
The table below shows the available type of wires/media.
Type
At terminals At connection Cable/part Allowed capacity
in cabinet
point. Base, Ax- area
is 2/3 or axis 6
Customer Power (CP)
Utility Power
2+2
Protective earth
2+2
0,5 mm 2
250 VAC, 5 A rms a
1
0,5 mm 2
250 VACb
Customer Signals (CS)
Signals twisted pair
20
20 (10x2) b
0,24 mm 2 50 V DC, 1 A rms
Signals twisted pair and
separate shielded
8
8 (4x2)
0,24 mm 2 50 V DC, 1 A rms
Customer bus (CBus)
Bus signals
At bus board 2
0,14 mm 2 Can/DeviceNet
spec
Bus signals
At bus board 2
0,24 mm 2 50 V DC, 1 A rms
Signals twisted pair
6
6(3x2)
0,14 mm 2 50 V DC, 1 A rms
1
12,5 mm
inner diameter
Media
Air (PROC 1)
Max. air pressure
16 bar/230 PSI
a. For option 780-3 50 VAC / 60 VDC.
b. For option 780-2 8 signals instead of 20.
Continues on next page
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2 SpotPack and DressPack
2.3.2 Configuration result for Type H
Continued
DressPack Type H. Parallel and field bus communication, Profibus
• Option 16-1 with Connection to cabinet
•
(Option 92-2,-3 to specify cable length)
•
Option 455-4. Parallel and bus communication
•
Option 778-1. Material Handling
•
Option 798-2 or Option 798-3. Internal routing, DressPack Lower arm
One of the options:
•
Option 780-2 (and Option 798-2). External routing with retract arm
•
Optiion 780-3 or 780-4 (and Option 798-3). External/Internal routing
The table below shows the available type of wires/media.
Type
At terminals At connection Cable/part Allowed capacity
in cabinet
point. Base, Ax- area
is 2/3 or axis 6
Customer Power (CP)
Utility Power
2+2
Protective earth
2+2
0,5 mm 2
250 VAC, 5 A rms a
1
0,5 mm 2
250 VACb
Customer Signals (CS)
Signals twisted pair
22
22(11x2) b
0,24 mm 2 50 V DC, 1 A rms
Signals twisted pair and
separate shielded
8
8 (4x2)
0,24 mm 2 50 V DC, 1 A rms
Customer bus (CBus)
Bus signals
At bus board 4
0,14 mm 2 Profibus 12 Mbit/s
spec
Signals twisted pair
6
6 (3x2)
0,14 mm 2 50 V DC, 1 A rms
1
12,5 mm
inner diameter
Media
Air (PROC 1)
Max. air pressure
16 bar/230 PSI
a. For option 780-3 50 VAC / 60VDC.
b. For option 780-3 8 singals instead of 22.
Continues on next page
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2 SpotPack and DressPack
2.3.2 Configuration result for Type H
Continued
DressPack Type H, Parallel and field bus communication, Ethernet
• Option 16-1 with Connection to cabinet
•
(Option 859-1,-2, -3, -4 to specify cable length)
•
(Option 94-1, -2, -3, -4 to specify cable length)
•
Option 455-8. Parallel and Ethernet communication
•
Option 778-1. Material Handling
•
Option 798-2 or Option 798-3. Internal routing, DressPack Lower arm
One of the options:
•
Option 780-2 (and Option 798-2). External routing with retract arm
•
Option 780-3 or 780-4 (and option 798-3). External/Internal routing.
The table below shows the available type of wires/media.
Type
At termin- At connection Cable/part Allowed capacity
als in cabin- point. Base,
area
et
Axis 2/3 or axis
6
Customer Power (CP)
Utility Power
2+2
Protective earth
2+2
0,5 mm 2
250 VAC, 5 A rms i
1
0,5 mm 2
250 VACa
Customer Signals (CS)
Signals twisted pair
20
20(10x2) ii
0,24 mm 2 50 V DC, 1 A rms
Signals twisted pair and
separate shielded
8
8 (4x2)
0,24 mm 2 50 V DC, 1 A rms
4
4
0,4 mm 2
1
12,5 mm Max. air pressure 16
inner dia- bar/230 PSI
meter
Customer bus (Ethernet)
Bus signals
Ethernet CAT 5e, 100
Mbit iii
Media
Air (PROC 1)
i
ii
iii
For option 780-3 50 VAC / 60 VDC.
For option 780-3 8 signals instead of 20.
Ethernet with wire colors according to PROFINET standard, M12-connectors.
Continues on next page
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2 SpotPack and DressPack
2.3.2 Configuration result for Type H
Continued
Summary Type H
The following options are required to form a complete DressPack Type H:
•
Option 16-1. Connection to cabinet, (Cable length and communication type
to be stated)
•
Option 455-1, 455-4. Parallel or Parallel and Bus communication
•
(Communication type to be stated)
•
Option 778-1. Material Handling
•
Option 798-2 or Option 798-3. Internal routing, DressPack Lower arm
•
(Routing type to be stated)
•
Option 780-2. External routing Axis 2 to 6, option 780-3, -4 External routing
Axis 3 to 6, DressPack Upper arm (Routing type to be stated)
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2 SpotPack and DressPack
2.4.1 Introduction
2.4 Type S
2.4.1 Introduction
General
Variant Type S is designed for Spot Welding application with robot handled
pneumatic gun. Included modules are shown in Figure below. Available
configurations with linked option numbers are described below.
xx1000000517
Pos
Name
A
Spot Welding cabinet
B
Robot Cabinet IRC5
C
DressPack, Floor
D
DressPack, Lower arm
E
DressPack, Upper arm
F
Water and Air unit with hoses
Available configurations and allowed combinations with linked option numbers are
described below.
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2 SpotPack and DressPack
2.4.1 Introduction
Continued
Option Description
Option
Type
Description
16-1
Connection to cabin- Floor cables and connections inside the I/O section for the
et
DressPack are chosen. The length and configuration of the
floor harness is specified under the options below.
Option 94-1,-2,-3,-4 for parallel communication
Option 90-2,-3,-4,-5 for parallel communication and field
bus communication with Can/DeviceNet
Option 92-2,-3 for parallel communication and field bus
communication with Profibus
455-1
Parallel communica- Offers the signal cables needed for parallel communication
tion
in lower and upper arm DressPack.
To be combined with option 94-1,-2,-3,-4.
455-4
Parallel and Bus
communication
Offers the signal cables needed for the combination of
parallel and bus communication in combination in lower
and upper arm DressPack. To be combined with
option 90-2,-3,-4,-5 or 92-2,-3.
455-8
Parallel and Ethernet
Offers the signal cables needed for the Ethernet communication in combination in lower and upper arm DressPack.
To be combined with option 859-1,-2,-3,-4. Requires selection of option 94-X.
The available alternatives and allowed combinations are shown in the schematic
table below.
Application Interface Option 455-1, Parallel
communication
connected to
Option 16-1
Option 94-1,-2,-3,-4
Option 778-2,
Cable length,
Spot Welding
Parallel and Bus communication
Option 455-1, Parallel and Option 90-2,-3,-4,-5
Bus communication
Option 92-2,-3
Cable length, Parallel and
Bus commnication
Option 455-8, Parallel and Option 859-1, -2, -3, -4
Ethernet communication Cable length, Ethernet
communication
Continued
Option 778-2,
Spot Welding
Lower arm
Upper arm
Option 798-2, Base to axis 2
External routing
Option 780-2, Axis 2 to 6
External routing
Option 798-3, Base to axis 3
External routing
Option 780-4, Axis 3 to 6
Internal routing
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2 SpotPack and DressPack
2.4.2 Configuration result for Type S
2.4.2 Configuration result for Type S
General
Depending on the choice of options above the DressPack will have different content.
The choice of routing will not affect the content. See tables for signal content below.
DressPack Type S. Parallel communication
• Option 16-1 with Connection to cabinet
•
(Option 94-1,-2,-3,-4 to specify cable length)
•
Option 455-1. Parallel communication
•
Option 778-2. Spot Welding
•
Option 798-2. External routing, DressPack Lower arm
•
Option 798-3. External routing, DressPack Lower arm
One of the options:
•
Option 780-2 (and Option 798-2). External routing with retract arm
•
Option 780-4 (and Option 798-3). Internal routing.
The table below shows the available type of wires/media.
Type
At terminals At connection Cable/part Allowed capacity
in cabinet
point. Base, ax- area
is 2/3 or axis 6
Customer Power (CP)
Utility Power
2+2
Protective earth
2+2
0,5 mm 2
250 VAC, 5 A rms
1
0,5 mm 2
250 VAC
Customer Signals (CS)
Signals twisted pair
20
20 (10x2)
0,24 mm 2 50 V DC, 1 A rms
Signals twisted pair and
separate shielded
8
8 (4x2)
0,24 mm 2 50 V DC, 1 A rms
4
12.5 mm
inner diameter i
Lower and Upper arm
2
Protective earth (Lower and
Upper arm)
1
35 mm 2 ii 600 VAC, 150 A
rms at 20°C (68°F)
Media
Water/Air (PROC 1-4)
Max. air pressure
16 bar/ 230 PSI
Max. water pressure 10 bar/ 145
PSI
Welding power (WELD)
i
ii
For LeanID 2x1/2" + 2x3/8", only upper arm
For LeanID upper arm 25 mm 2 , only upper arm, 135 A rms
Continues on next page
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2 SpotPack and DressPack
2.4.2 Configuration result for Type S
Continued
DressPack Type S. Parallel and field bus communication, Can/DeviceNet
• Option 16-1 with Connection to cabinet
•
(Option 90-2,-3,-4,-5 to specify cable length)
•
Option 455-4. Parallel and bus communication
•
Option 778-2. Spot Welding
•
Option 798-2. External routing, DressPack Lower arm
•
Option 798-3. External routing, DressPack Lower arm
One of the options:
•
Option 780-2 (and Option 798-2). External routing with retract arm
•
Option 780-4 (and Option 798-3). Internal routing.
The table below shows the available type of wires/media.
Type
At terminals At connection Cable/part Allowed capacity
in cabinet
point. Base, ax- area
is 2/3 or axis 6
Customer Power (CP)
Utility Power
2+2
Protective earth
2+2
0,5 mm 2
250 VAC, 5 A rms
1
1 mm2
250 VAC
Customer signals (CS)
Signals twisted pair
20
20 (10x2)
0,24 mm 2 50 V DC, 1 A rms
Signals twisted pair and
separate shielded
8
8 (4x2)
0,24 mm 2 50 V DC, 1 A rms
Customer bus (CBus)
Bus signals
At bus board 2
0,14 mm 2 Can/DeviceNet
spec
Bus signals
At bus board 2
0,23 mm 2 50 V DC, 1 A rms
Signals twisted pair
6
6 (3x2)
0,14 mm 2 50 V DC, 1 A rms
4
12.5 mm
inner diameter i
Lower and Upper arm
2
Protective earth (Lower and
Upper arm)
1
35 mm 2 ii 600 VAC, 150 A
rms at 20°C (68°F)
Media
Water/Air (PROC 1-4)
Max. air pressure
16 bar/230 PSI
Max. water pressure 10 bar/145
PSI.
Welding power (WELD)
i
ii
For LeanID 2x1/2" + 2x3/8", only upper arm
For LeanID upper arm 25 mm 2 , only upper arm, 135 A rms
Continues on next page
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2 SpotPack and DressPack
2.4.2 Configuration result for Type S
Continued
DressPack Type S. Parallel and field bus communication, Profibus
• Option 16-1 with Connection to cabinet
•
(Option 92-2,-3 to specify cable length)
•
Option 455-4. Parallel and bus communication
•
Option 778-2. Spot Welding
•
Option 798-2. External routing, DressPack Lower arm
•
Option 798-3. External routing, DressPack Lower arm
One of the options:
•
Option 780-2 (and Option 798-2). External routing with retract arm
•
Option 780-4 (and Option 798-3). Internal routing.
The table below shows the available type of wires/media.
Type
At terminals At connection Cable/part Allowed capacity
in cabinet
point. Base, ax- area
is 2/3 or axis 6
Customer Power (CP)
Utility Power
2+2
Protective earth
2+2
0,5 mm 2
250 VAC, 5 A rms
1
0,5 mm 2
250 VAC
Customer signals (CS)
Signals twisted pair
22
22 (11x2)
0,24 mm 2 50 V DC, 1 A rms
Signals twisted pair and
separate shielded
8
8 (4x2)
0,24 mm 2 50 V DC, 1 A rms
Customer bus (CBus)
Bus signals
At bus board 4
0,14 mm 2 Profibus 12 Mbit/s
spec
Signals twisted pair
6
6 (3x2)
0,14 mm 2 50 V DC, 1 A rms
4
12.5 mm
inner diameter i
Lower and Upper arm
2
Protective earth (Lower and
Upper arm)
1
35 mm 2 ii 600 VAC, 150 A
rms at 20°C (68°F)
Media
Water/Air (PROC 1-4)
Max. air pressure
16 bar/230 PSI
Max. water pressure 10 bar/145
PSI.
Welding power (WELD)
i
ii
For LeanID 2x1/2" + 2x3/8", only upper arm
For LeanID upper arm 25 mm 2 , only upper arm, 135 A rms
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2 SpotPack and DressPack
2.4.2 Configuration result for Type S
Continued
DressPack Type S. Parallel and field bus communication, Ethernet
• Option 16-1 with Connection to cabinet
•
(Option 859-1,-2, -3, -4 to specify cable length)
•
(Option 94-1, -2, -3, -4 to specfiy cable length)
•
Option 455-8. Parallel and Ethernet communication
•
Option 778-2. Spot Welding
•
Option 798-2. External routing, DressPack Lower arm
•
Option 798-3. External routing, DressPack Lower arm
One of the options:
•
Option 780-2 (and Option 798-2). External routing with retract arm
•
Option 780-4 (and Option 798-3). Internal routing.
The table below shows the available type of wires/media.
Type
At terminals At connection Cable/part Allowed capacity
in cabinet
point. Base, ax- area
is 2/3 or axis 6
Customer Power (CP)
Utility Power
2+2
Protective earth
2+2
0,5 mm 2
250 VAC, 5 A rms
1
0,5 mm 2
250 VAC
Customer signals (CS)
Signals twisted pair
202
20 (10x2)
0,24 mm 2 50 V DC, 1 A rms
Signals twisted pair and
separate shielded
8
8 (4x2)
0,24 mm 2 50 V DC, 1 A rms
4
4
0,4 mm 2
Ethernet CAT 5e,
100 Mbit i
4
12.5 mm
inner diameter ii
Max. air pressure
16 bar/230 PSI
Max. water pressure 10 bar/145
PSI.
Lower and Upper arm
2
Protective earth (Lower and
Upper arm)
1
35 mm 2 iii 600 VAC, 150 A
rms at 20°C (68°F)
Customer bus (Ethernet)
Bus signals
Media
Water/Air (PROC 1-4)
Welding power (WELD)
i
ii
iii
Ethernet with wire colors according to PROFINET standard, M12-connectors.
For LeanID 2x1/2" + 2x3/8", only upper arm
For LeanID upper arm 25 mm 2 , only upper arm, 135 A rms
Continues on next page
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2 SpotPack and DressPack
2.4.2 Configuration result for Type S
Continued
Required general options for Type S
To enable the SpotPack IRB 6650S to perform as intended, general standard robot
options are required. These standard options are further described under other
chapters and are also mentioned in this chapter.
•
Option 716-1. 1 pc. Digital 24 VDC I/O 16 inputs/ 16 outputs
•
Option 727-1. 24V 8 Amps power supply
•
Option 635-1. Spot. Software option for pneumatic guns
Required Spot Welding cabinet options for Type S
The SpotPack 6650S also requires a Spot Welding cabinet (option 768-3) to perform
as intended. There are three different variants (see below) of Spot Welding cabinet
available. Weld timer brand and weld capacity are stated by choosing one of the
optional variants. Additional features could then be added to each of the cabinet
variant.
All these options are further described under chapter Spot Welding cabinet on
page 131 and are also mentioned in this chapter.
xx0900000740
Option
Type
Description
782-1
Bosch Basic AC
This option gives a basic Spot Welding cabinet
equipped with a weld timer from Bosch with an integrated AC-thyristor with basic capacity. Type Bosch
PST 6100.630L1.
782-7
Bosch Basic MFDC
This option gives a basic Spot Welding cabinet
equipped with a weld timer from Bosch with an integrated inverter with basic capacity. Type Bosch PSI
6100.630L1.
782-11
Bosch MFDC ProfiNet
This option gives a basic Spot Welding cabinet
equipped with a weld timer from Bosch with an integrated inverter with basic capacity. Type Bosch PSI
61C0.751OEM.
Continues on next page
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2 SpotPack and DressPack
2.4.2 Configuration result for Type S
Continued
Additional options to the different Spot Welding cabinets are mentioned below.
For further technical details as well as restrictions in combinations see Spot Welding
cabinet on page 131.
Option
Type
Description
788-1
Forced air cooling
Offers a cooling fan with housing placed on the rear
of the Spot Welding cabinet which forces air on the
cooling surface/grids of the thyristor or MFDC inverter.
789-1
Earth fault protection unit Offers an earth fault protection integrated with the
circuit breaker for the weld power.
790-1
Contactor for weld power Offers a weld contactor with necessary wiring placed
inside the Spot Welding cabinet.
791-1
Weld power cable, 7 m
Offers floor cable of 7 m length for weld power.
791-2
Weld power cable, 15 m
Offers floor cable of 15 m length for weld power.
858-1
Bosch Adaptive control
Offers additional functionality for adaptive welding
regulation. Only possible with option 782-11.
Required Water and Air unit options for Type S
The SpotPack IRB 6650S also requires Water and Air unit options to perform as
intended. These options are further described under chapter 1.9 Water and Air unit
and are also mentioned in this chapter.
xx0900000738
Option
Type
Description
792-1
Water and Air unit, type S Offers the basic water and air unit for type S including
splitbox for signal distribution.
793-1
Second water return
Offers an additional water return circuit.
796-1
Electrical proportional
valve for air
Offers a proportional valve with cables and additional
hoses.
797-1
Cable to split box, 7 m
Offers floor cable of 7 m length for signals between
the Spot Welding cabinet and to the split box placed
on the water and air unit.
Continues on next page
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2 SpotPack and DressPack
2.4.2 Configuration result for Type S
Continued
Option
Type
Description
797-2
Cable to split box, 15 m
Offers floor cable of 15 m length for signals between
the Spot Welding cabinet and to the split box placed
on the water and air unit.
797-3
Cable to split box, 22 m
Offers floor cable of 22 m length for signals between
the Spot Welding cabinet and to the split box placed
on the water and air unit.
797-4
Cable to split box, 30 m
Offers floor cable of 30 m length for signals between
the Spot Welding cabinet and to the split box placed
on the water and air unit.
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2 SpotPack and DressPack
2.4.3 Summary Type S
2.4.3 Summary Type S
General
The following options are the minimum required to form a complete SpotPack Type
S:
DressPack
•
Option 16-1. Connection to cabinet, (Cable length and communication type
to be stated)
•
Option 455-1, 455-4. Parallel or Parallel and Bus communication
(Communication type to be stated)
•
Option 778-2. Spot Welding
•
Option 798-2 or 798-3. DressPack Lower arm
•
Option 780-2 or 780-4. DressPack Upper arm (Routing type to be stated)
•
Option 716-1. 1 pc. Digital 24 VDC I/O 16 inputs/ 16 outputs
•
Option 727-1. 24V 8 Amps power supply
•
Option 635-1. Spot
•
Option 768-3. Spot Welding small
•
Option 782-1,-7, -11. Weld timer capacity
•
Option 791-1. Power cable 7 m (other lengths available)
•
Option 792-1. Water and air unit, Type S
•
Option 797-1. Splitbox cable 7 m. (other lengths available)
General options
Spot Welding cabinet
Water and air unit
Other described options depends on specific system need and performance.
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2 SpotPack and DressPack
2.5.1 Introduction
2.5 Type HS
2.5.1 Introduction
General
Variant Type HS is designed for handling against a stationary mounted Spot Welding
pneumatic gun. Included main modules are shown in Figure below. Available
configurations with linked option numbers are described below starting at the
DressPack.
xx1000000519
Pos
Name
A
Spot Welding cabinet
B
Robot Cabinet IRC5
C
DressPack, Floor
D
DressPack, Lower arm
E
DressPack, Upper arm
F
Water and Air unit with hoses
G
Robot Gripper
H
Stationary gun
Available configurations with linked option numbers are described below.
Continues on next page
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2 SpotPack and DressPack
2.5.1 Introduction
Continued
Option description
Option
Type
Description
16-1
Connection to cabin- Floor cables and connections inside the I/O section for the
et
DressPack are chosen. The length and configuration of the
floor harness is specified under the options below.
Option 94-1,-2,-3,-4 for parallel communication.
Option 90-2,-3,-4,-5 for parallel communication and field
bus communication with Can/DeviceNet.
Option 92-2,-3 for parallel communication and field bus
communication with Profibus.
455-1
Parallel communica- Offers the signal cables needed for parallel communication
tion
in lower and upper arm DressPack. To be combined with
option 94-1,-2,-3,-4,-5.
455-4
Parallel and Bus
communication
Offers the signal cables needed for the combination of
parallel and bus communication in lower and upper arm
DressPack. To be combined with
option 90-2,-3,-4,-5 or 92-2,-3.
455-8
Parallel and Ethernet
Offers the signal cables needed for the Ethernet communication in combination in lower and upper arm DressPack. To
be combined with option 859-1,-2,-3,-4. Requires selection
of option 94-X.
The available alternatives and allowed combinations are shown in the schematic
table below.
Application Interface Option 455-1,
Option 94-1,-2,-3,-4
Option 778-1,
connected to
Parallel communica- Cable length,
Material Handling
Option 16-1,
tion
Parallel communication
Cabinet
Option 455-4,
Option 90-2-,3-,4-,5
Parallel and bus
Option 92-2,-3
communication
Cable length, Parallel and
bus communication
Option 455-8, Paral- Option 859-1, -2, -3, -4
lel and Ethernet
Cable length, Ethernet
communication
communication
Continued
Lower arm
Upper arm
Option 778-1
Option 798-3, Base to Option 780-3, Axis 3 to 6
Material Handling axis 3
External routing
Option 780-4, Axis 3 to 6
Internal routing
Option 798-2, Base t o Option 780-2, Axis 2 to 6
axis 2
External routing
Product specification - IRB 6650S
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2 SpotPack and DressPack
2.5.2 Configuration result for Type HS
2.5.2 Configuration result for Type HS
General
Depending on the choice of options above the DressPack will have different content.
The choice of routing will not affect the content. See tables for signal content below.
DressPack Type HS. Parallel communication
• Option 16-1 with Connection to cabinet
•
(Option 94-1,-2,-3,-4 to specify cable length)
•
Option 455-1. Parallel communication
•
Option 778-1. Material Handling
•
Option 798-2 or Option 798-3. Internal routing, DressPack Lower arm
One of the options:
•
Option 780-2 (and Option 798-2). External routing with retract arm
•
Option 780-3, -4 (and Option 798-3). External routing, DressPack Upper arm
The table below shows the available type of wires/media.
Type
At terminals At connection Cable/part Allowed capacity
in cabinet
point. Base, Ax- area
is 2/3 or axis 6
Customer Power (CP)
Utility Power
2+2
2+21 a
Protective earth
0,5 mm 2
250 VAC, 5 A rms b
0,5 mm 2
250 VACa
Customer Signals (CS)
Signals twisted pair
20
20(10x2) c
0,24 mm 2 50 V DC, 1 A rms
Signals twisted pair and
separate shielded
8
8 (4x2)
0,24 mm 2 50 V DC, 1 A rms
1
12,5 mm
inner diameter
Media
Air (PROC 1)
Max. air pressure
16 bar/230 PSI
a. Not included in option 780-3.
b. For option 780-3 50 VAC / 60VAC.
c. For option 780-3 8 signals instead of 20.
Continues on next page
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2.5.2 Configuration result for Type HS
Continued
DressPack Type HS. Parallel and field bus communication, Can/DeviceNet
• Option 16-1 with Connection to cabinet
•
(Option 90-1,-2,-3,-4 to specify cable length)
•
Option 455-4. Parallel and bus communication
•
Option 778-1. Material Handling
•
Option 798-2 or Option 798-3. Internal routing, DressPack Lower arm
One of the options:
•
Option 780-2 (and Option 798-2). External routing with retract arm
•
Option 780-3, -4 (and Option 798-3). External routing, DressPack Upper arm
The table below shows the available type of wires/media.
Type
At terminals At connection Cable/part Allowed capacity
in cabinet
point. Base, Ax- area
is 2/3 or axis 6
Customer Power (CP)
Utility Power
2+2
Protective earth
2+2
0,5 mm 2
250 VAC, 5 A rms b
1a
0,5 mm 2
250 VACa
20 (10x2) c
0,24 mm 2 50 V DC, 1 A rms
8 (4x2)
0,24 mm 2 50 V DC, 1 A rms
Customer Signals (CS)
Signals twisted pair
208
Signals twisted pair and
separate shielded
Customer bus (CBus)
Bus signals
At bus board 2
0,14 mm 2 Can/DeviceNet
spec
Bus signals
At bus board 2
0,23 mm 2 50 V DC, 1 A
rms50 V DC, 1 A
rms
Signals twisted pair
6
6(3x2)
0,14 mm 2
1
12,5 mm
inner diameter
Media
Air (PROC 1)
Max. air pressure
16 bar/230 PSI
a. Not included in option 780-3.
b. For option 780-3 50 VAC / 60 VAC.
c.For option 780-3 8 signals instead of 20.
Continues on next page
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2 SpotPack and DressPack
2.5.2 Configuration result for Type HS
Continued
DressPack Type HS. Parallel and field bus communication, Profibus
• Option 16-1 with Connection to cabinet
•
(Option 92-1,-2,-3 to specify cable length)
•
Option 455-4. Parallel and bus communication
•
Option 778-1. Material Handling
•
Option 798-2 or Option 798-3. Internal routing, DressPack Lower arm
One of the options:
•
Option 780-2 (and Option 798-2). External routing with retract arm
•
Option 780-3, -4 (and Option 798-3). External routing, DressPack Upper arm
The table below shows the available type of wires/media.
Type
At terminals At connection Cable/part Allowed capacity
in cabinet
point. Base, Ax- area
is 2/3 or axis 6
Customer Power (CP)
Utility Power
2+2
Protective earth
2+2
0,5 mm 2
250 VAC, 5 A rms b
1a
0,5 mm 2
250 VACa
Customer Signals (CS)
Signals twisted pair
22
22(11x2) c
0,24 mm 2 50 V DC, 1 A rms
Signals twisted pair and
separate shielded
8
8 (4x2)
0,24 mm 2 50 V DC, 1 A rms
Customer bus (CBus)
Bus signals
At bus board 4
0,14 mm 2 Profibus 12 Mbit/s
spec
Signals twisted pair
6
6 (3x2)
0,14 mm 2 50 V DC, 1 A rms
1
12,5 mm
inner diameter
Media
Air (PROC 1)
Max. air pressure
16 bar/230 PSI
a. Not included in option 780-3.
b. For option 780-3 50 VAC / 60 VDC.
c. For option 780-3 8 signals instead of 22.
Continues on next page
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2 SpotPack and DressPack
2.5.2 Configuration result for Type HS
Continued
DressPack Type HS. Parallel and field bus communication, Ethernet
• Option 16-1 with Connection to cabinet
•
(Option 859-1,-2,-3, -4 to specify cable length)
•
(Option 94-1, -2, -3, -4 to specify cable length)
•
Option 455-8. Parallel and Ethernet communication
•
Option 778-1. Material Handling
•
Option 798-2 or Option 798-3. Internal routing, DressPack Lower arm
One of the options:
•
Option 780-2 (and Option 798-2). External routing with retract arm
•
Option 780-3, -4 (and Option 798-3). External routing, DressPack Upper arm
The table below shows the available type of wires/media.
Type
At termin- At connection Cable/part Allowed capacity
als in cabin- point. Base,
area
et
Axis 2/3 or axis
6
Customer Power (CP)
Utility Power
2+2
Protective earth
2+2
0,5 mm 2
250 VAC, 5 A rms i
1
0,5 mm 2
250 VACa
Customer Signals (CS)
Signals twisted pair
20
20(10x2) ii
0,24 mm 2 50 V DC, 1 A rms
Signals twisted pair and
separate shielded
8
8 (4x2)
0,24 mm 2 50 V DC, 1 A rms
4
4
0,4 mm 2
1
12,5 mm Max. air pressure 16
inner dia- bar/230 PSI
meter
Customer bus (Ethernet)
Bus signals
Ethernet CAT 5e, 100
Mbit iii
Media
Air (PROC 1)
i
ii
iii
For option 780-3 50 VAC / 60 VDC.
For option 780-3 8 signals instead of 20.
Ethernet with wire colors according to PROFINET standard, M12-connectors.
Continues on next page
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2 SpotPack and DressPack
2.5.2 Configuration result for Type HS
Continued
Required general options for Type HS
To enable the SpotPack 6650S to perform as intended, general standard robot
options are required. These standard options are further described under other
chapters and are also mentioned in this chapter.
•
Option 716-1. 1 pc. Digital 24 VDC I/O 16 inputs/ 16 outputs
•
Option 727-1. 24V 8 Amps power supply
•
Option 635-1. Spot. Software option for pneumatic guns.
Required Spot Welding cabinet options for Type HS
The SpotPack IRB 6650S also requires a Spot Welding cabinet (option 768-3) to
perform as intended. There are three different variants (see below) of Spot Welding
cabinet available. Weld timer brand and weld capacity are stated by choosing one
of the optional variants. Additional features could then be added to each of the
cabinet variant. All these options are further described under chapter 1.8 Spot
Welding cabinet but are also mentioned in this chapter.
xx1000000518
Option
Type
Description
782-1
Bosch Basic AC
This option gives a basic Spot Welding cabinet
equipped with a weld timer from Bosch with an integrated AC-thyristor with basic capacity. Type Bosch
PST 6100.630L1.
782-7
Bosch Basic MFDC
This option gives a basic Spot Welding cabinet
equipped with a weld timer from Bosch with an integrated inverter with basic capacity. Type Bosch PSI
6100.630L1.
782-11
Bosch MFDC ProfiNet
This option gives a basic Spot Welding cabinet
equipped with a weld timer from Bosch with an integrated inverter with basic capacity. Type Bosch PSI
61C0.751OEM.
Continues on next page
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2 SpotPack and DressPack
2.5.2 Configuration result for Type HS
Continued
Additional options to the different Spot Welding cabinets are mentioned below.
For further technical details as well as restrictions in combinations see chapter 1.8
Spot Welding cabinet
Option
Type
Description
788-1
Forced air cooling
Offers a cooling fan with housing placed on the rear
of the Spot Welding cabinet which forces air on the
cooling surface/grids of the thyristor or MFDC inverter.
789-1
Earth fault protection unit Offers an earth fault protection integrated with the
circuit breaker for the weld power.
790-1
Contactor for weld power Offers a weld contactor with necessary wiring placed
inside the Spot Welding cabinet.
791-1
Weld power cable, 7 m
Offers floor cable of 7 m length for weld power.
791-2
Weld power cable, 15 m
Offers floor cable of 15 m length for weld power.
809-1
Process cable to stationary Offers floor cable of 7 m length for process signals
gun, 7 m
between the Spot Welding cabinet and to the stationary gun.
809-2
Process cable to stationary Offers floor cable of 15 m length for process signals
gun, 15 m
between the Spot Welding cabinet and to the stationary gun.
858-1
Bosch Adaptive control
Offers additional functionality for adaptive welding
regulation. Only possible with option 782-11.
Product specification - IRB 6650S
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2 SpotPack and DressPack
2.5.3 Interface description stationary gun
2.5.3 Interface description stationary gun
General
The interface towards the stationary gun includes 3 parts.
•
Signal interface with a signal connector type modular Harting
•
(Cable option 809-1, -2). The connector configurations are described in the
tables below. Signals with (parentheses) are to be connected by customer.
Other signals are connected if a complete SpotPack Type HS is ordered.
•
Power cable with a Multi Contact interface (Cable option 791-1 or option
791-2)
•
(Ending Multi contact type MC TSB 150/35).
•
Water and air connections made by the customer directly on the water and
air unit. (See chapter Water and Air unit on page 139)
The connector configurations are described in the circuit diagram included in the
Product Manual DressPack/SpotPack IRB 6600/7600, art No. 3HAC025058-001.
The Harting connector is shown below. The different main parts within the connector
are shown both with name and Harting article number. Corresponding parts at the
tool are available within the Harting product offer.
Name
Harting article No.
Hood
09 30 010 0543
Hinged frame, hood
09 14 010 0303
Multicontact, female (HD)
09 14 025 3101
Multicontact, female (EE)
09 14 012 3101
Multicontact, female (DD)
09 14 008 3101
For the contacts above corresponding female crimp-contacts for the different cable
diameters are required.
Continues on next page
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2 SpotPack and DressPack
2.5.3 Interface description stationary gun
Continued
Required Water and Air unit options for Type HS
The SpotPack IRB 6650S also requires Water and Air unit options to perform as
intended. These options are further described under chapter 1.9 Water and Air unit
and are also mentioned in this chapter.
xx0900000738
Option
Type
Description
792-2
Water and Air unit, type HS Offers the basic water and air unit for type HS including splitbox for signal distribution.
793-1
Second water return
Offers an additional water return circuit.
796-1
Electrical proportional
valve for air
Offers a proportional valve with cables and additional
hoses.
797-1
Cable to split box, 7 m
Offers floor cable of 7 m length for signals between
the cabinet and to the split box placed on the water
and air unit.
797-2
Cable to split box, 15 m
Offers floor cable of 15 m length for signals between
the cabinet and to the split box placed on the water
and air unit.
797-3
Cable to split box, 22 m
Offers floor cable of 22 m length for signals between
the cabinet and to the split box placed on the water
and air unit.
797-4
Cable to split box, 30 m
Offers floor cable of 30 m length for signals between
the cabinet and to the split box placed on the water
and air unit.
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105
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2 SpotPack and DressPack
2.5.4 Summary Type HS
2.5.4 Summary Type HS
General
The following options are the minimum required to form a complete SpotPack Type
HS:
DressPack
•
Option 16-1. Connection to cabinet, (Cable length and communication type
to be stated)
•
Option 455-1, 455-4. Parallel or Parallel and Bus communication
(Communication type to be stated)
•
Option 798-2 or Option 798-3. Internal routing, DressPack Lower arm (Routing
type to be stated)
•
Option 780-2, 780-3, 780-4. External routing, DressPack Upper arm (Routing
type to be stated)
•
Option 716-1. 1 pc. Digital 24 VDC I/O 16 inputs/ 16 outputs
•
Option 727-1. 24V 8 Amps power supply
•
Option 635-1. Spot
•
Option 768-3. Spot Welding small
•
Option 782-1,-7 and -11. Weld timer capacity
•
Option 791-1. Power cable 7 m (other lengths available)
•
Option 809-1. Process cable to stationary gun (other lengths available)
•
Option 792-2. Water and air unit, Type HS
•
Option 797-1. Splitbox cable 7 m. (other lengths available)
•
Option 796-1 is also normally required for pneumatic gun handling.
General options
Spot Welding cabinet
Water and air unit
Other described options depend on specific system need and performance.
106
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2 SpotPack and DressPack
2.6.1 Introduction
2.6 Type Se
2.6.1 Introduction
General
Variant Type Se is designed for Spot Welding application with robot handled
servo-controlled tool (electrical gun). Included modules are shown in Figure below.
Available configurations with linked option numbers are described below.
xx1000000520
Pos
Name
A
Spot Welding cabinet
B
Robot Cabinet IRC5 (including 7th axis drive)
C
DressPack, Floor
D
DressPack, Lower arm
E
DressPack, Upper arm
F
Water and Air unit with hoses
Available configurations with linked option numbers are described below. To achive
the specific servo motor connections within the DressPack option 785-1 Robot gun
must also to be chosen. See Robot Gun on page 58.
Continues on next page
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2 SpotPack and DressPack
2.6.1 Introduction
Continued
Option description
Option
Type
Description
16-1
Connection to cabin- Floor cables and connections inside the I/O section for the
et
DressPack are chosen. The length and configuration of the
floor harness is specified under the options below.
Option 94-1,-2,-3,-4 for parallel communication
Option 90-2,-3,-4,-5 for parallel communication and field
bus communication with Can/DeviceNet
Option 92-2,-3 for parallel communication and field bus
communication with Profibus
455-1
Parallel communica- Offers the signal cables needed for parallel communication
tion
in lower and upper arm DressPack.
To be combined with option 94-1,-2,-3,-4.
455-4
Parallel and Bus
communication
Offers the signal cables needed for the combination of
parallel and bus communication in combination in lower
and upper arm DressPack. To be combined with
option 90-2,-3,-4,-5 or 92-2,-3.
455-8
Parallel and Ethernet
Offers the signal cables needed for the Ethernet communication in combination in lower and upper arm DressPack.
To be combined with option 859-1,-2,-3,-4. Requires selection of option 94-X.
The available alternatives and allowed combinations are shown in the schematic
table below.
Application Interface Option 455-1, Parallel com- Option 94-1,-2,-3,-4
connected to
munication
Cable length, Parallel
Option 16-1, Cabinet
communication
Option 778-2
Spot Welding
Option 455, Parallel and Bus Option 90-2,-3,-4,-5
communication
Option 92-2,-3
Cable length, Parallel
and Bus communication
Option 455-8, Parallel and
Ethernet communication
Option 859-1, -2, -3, -4
Cable length, Ethernet
communication
Continued
Option 778-2,
Spot Welding
Lower arm
Upper arm
Option 798-2, Base to axis 2
External routing
Option 780-2, Axis 2 to 6
External routing
Option 798-3, Base to axis 3
External routing
Option 780-4, Axis 3 to 6
(LeanID)
Internal routing
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2 SpotPack and DressPack
2.6.2 Configuration result for Type Se
2.6.2 Configuration result for Type Se
General
Depending on the choice of options above (combined with option 785-1 Robot gun)
the DressPack will have different content. The choice of routing will not affect the
content. See tables for signal content below.
DressPack Type Se. Parallel communication
• Option 16-1 with Connection to cabinet
•
(Option 94-1,-2,-3,-4 to specify cable length)
•
Option 455-1. Parallel communication
•
Option 778-2 .Spot Welding
•
Option 798-2. External routing, DressPack Lower arm
•
Option 798-3. External routing, DressPack Lower arm
One of the options:
•
Option 780-2 (and Option 798-2). External routing with retract arm
•
Option 780-4 (and Option 798-3). Internal routing
The table below shows the available type of wires/media.
Type Se
At terminals At connection Cable/part Allowed capacity
in cabinet
point. Base, ax- area
is 2/3 or axis 6
Customer Power (CP)
Utility Power
2+2
2+2
0,5 mm 2
250 VAC, 5 A rms
1
0,5 mm 2
250 VAC
8
8 (4x2)
0,24 mm 2 50 V DC, 1 A rms
Signals twisted pair and 8
separate shielded
4 (2x2)
0,24 mm 2 50 V DC, 1 A rms
Protective earth
Customer Signals (CS)
Signals twisted pair
Servo motor signals
Servo motor power
At drive
3
1,5 mm 2
600 VAC, 12 A rms
Protective earth
At drive
1
1,5 mm 2
600 VAC
Signals twisted pair for
resolver
-
6
0,23 mm 2 50 V DC, 1 A rms
Brake
-
2
0,23 mm 2 50 V DC, 1 A rms
Temperature control/PTC -
2
0,23 mm 2 50 V DC, 1 A rms
4
12.5 mm
inner diameter i
Media
Water/Air (PROC 1-4)
Max. air pressure 16
bar/ 230 PSI.
Max. water pressure
10 bar/ 145 PSI
Welding power (WELD)
Continues on next page
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2 SpotPack and DressPack
2.6.2 Configuration result for Type Se
Continued
Type Se
At terminals At connection Cable/part Allowed capacity
in cabinet
point. Base, ax- area
is 2/3 or axis 6
Lower and Upper arm
2
Protective earth (Lower
and Upper arm)
1
i
ii
35 mm 2 ii 600 VAC,
150 A rms at 20°C
(68°F)
For LeanID 2x1/2" + 2x3/8", only upper arm
For LeanID upper arm 25 mm 2 , only upper arm, 135 A rms
Continues on next page
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2 SpotPack and DressPack
2.6.2 Configuration result for Type Se
Continued
DressPack Type Se. Parallel and field bus communication, Can/DeviceNet
• Option 16-1 with Connection to cabinet
•
(Option 90-2,-3, -5, -5 to specify cable length)
•
Option 455-4. Parallel and bus communication
•
Option 778-2. Spot Welding
•
Option 798-2. External routing, DressPack Lower arm
•
Option 798-3. External routing, DressPack Lower arm
One of the options:
•
Option 780-2 (and Option 798-2). External routing with retract arm
•
Option 780-4 (and Option 798-3). Internal routing
The table below shows the available type of wires/media.
Type
At terminals At connection Cable/part Allowed capacity
in cabinet
point. Base, ax- area
is 2/3 or axis 6
Customer Power (CP)
Utility Power
2+2
Protective earth
2+2
0,5 mm 2
250 VAC, 5 A rms
1
0,5 mm 2
250 VAC
Customer signals (CS)
Signals twisted pair
14
14 (7x2)
0,24 mm 2 50 V DC, 1 A rms
Signals twisted pair and
separate shielded
4
4 (2x2)
0,24 mm 2 50 V DC, 1 A rms
Customer bus (CBus)
Bus signals
At bus board 2
0,14 mm 2 Can/DeviceNet spec
Bus signals
At bus board 2
0,23 mm 2 50 V DC, 1 A rms
Signals twisted pair
6
6 (3x2)
0,14 mm 2 50 V DC, 1 A rms
Servo motor power
At drive
3
1,5 mm 2
600 VAC, 12 A rms
Protective earth
At drive
1
1,5 mm 2
600 VAC
Signals twisted pair for
resolver
-
6a
0,23 mm 2 50 V DC, 1 A rms
Brake
-
2
0,23 mm 2 50 V DC, 1 A rms
Temperature control/PTC -
2
0,23 mm 2 50 V DC, 1 A rms
4
12.5 mm
inner diameter i
Servo motor signals
Media
Water/Air (PROC 1-4)
Max. air pressure 16
bar/230 PSI.
Max. water pressure
10 bar/145 PSI.
Welding power (WELD)
Continues on next page
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2 SpotPack and DressPack
2.6.2 Configuration result for Type Se
Continued
Type
At terminals At connection Cable/part Allowed capacity
in cabinet
point. Base, ax- area
is 2/3 or axis 6
Lower and Upper arm
2
Protective earth (Lower
and Upper arm)
1
i
ii
35 mm 2 ii 600 VAC, 150 A rms
at 20°C (68°F)
For LeanID 2x1/2" + 2x3/8", only upper arm
For LeanID upper arm 25 mm 2 , only upper arm, 135 A rms
a. Interface only at axis 3 or axis 6.
Continues on next page
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2 SpotPack and DressPack
2.6.2 Configuration result for Type Se
Continued
DressPack Type Se. Parallel and field bus communication, Profibus
• Option 16-1 with Connection to cabinet
•
(Option 92-2,-3 to specify cable length)
•
Option 455-4. Parallel and bus communication
•
Option 778-2. Spot Welding
•
Option 798-2. External routing, DressPack Lower arm
•
Option 798-3. External routing, DressPack Lower arm
One of the options:
•
Option 780-2 (and Option 798-2). External routing with retract arm
•
Option 780-4 (and Option 798-3). Internal routing
The table below shows the available type of wires/media.
Type
At terminals At connection Cable/part Allowed capacity
in cabinet
point. Base, ax- area
is 2/3 or axis 6
Customer Power (CP)
Utility Power
1+1
Protective earth
1+1
0,5 mm 2
250 VAC, 5 A rms
1
0,5 mm 2
250 VAC
Customer signals (CS)
Signals twisted pair
8
8 (4x2)
0,24 mm 2 50 V DC, 1 A rms
Signals twisted pair and
separate shielded
4
4 (2x2)
0,24 mm 2 50 V DC, 1 A rms
Customer bus (CBus)
Bus signals
At bus board 4
0,14 mm 2 Profibus 12 Mbit/s
spec
Signals twisted pair
6
6 (3x2)
0,14 mm 2 50 V DC, 1 A rms
Servo motor power
At drive
3
1,5 mm 2
600 VAC, 12 A rms
Protective earth
At drive
1
1,5 mm 2
600 VAC
Signals twisted pair for
resolver
-
6a
0,23 mm 2 50 V DC, 1 A rms
Brake
-
2
0,23 mm 2 50 V DC, 1 A rms
Temperature control/PTC -
2
0,23 mm 2 50 V DC, 1 A rms
4
12.5 mm
inner diameter i
Servo motor signals
Media
Water/Air (PROC 1-4)
Max. air pressure 16
bar/230 PSI.
Max. water pressure
10 bar/145 PSI.
Welding power (WELD)
Continues on next page
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2 SpotPack and DressPack
2.6.2 Configuration result for Type Se
Continued
Type
At terminals At connection Cable/part Allowed capacity
in cabinet
point. Base, ax- area
is 2/3 or axis 6
Lower and Upper arm
2
Protective earth (Lower
and Upper arm)
1
i
ii
35 mm 2 ii 600 VAC, 150 A rms
at 20°C (68°F)
For LeanID 2x1/2" + 2x3/8", only upper arm
For LeanID upper arm 25 mm 2 , only upper arm, 135 A rms
a. Interface only at axis 3 or axis 6.
Continues on next page
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2 SpotPack and DressPack
2.6.2 Configuration result for Type Se
Continued
DressPack Type Se. Parallel and field bus communication, Ethernet
• Option 16-1 with Connection to cabinet
•
(Option 859-1, -2,-3, -4 to specify cable length)
•
(Option 94-1, -2, -3, -4 to specify cable length)
•
Option 455-8. Parallel and Ethernet communication
•
Option 778-2. Spot Welding
•
Option 798-2. External routing, DressPack Lower arm
•
Option 798-3. External routing, DressPack Lower arm
One of the options:
•
Option 780-2 (and Option 798-2). External routing with retract arm
•
Option 780-4 (and Option 798-3). Internal routing
The table below shows the available type of wires/media.
Type
At terminals At connection Cable/part Allowed capacity
in cabinet
point. Base, ax- area
is 2/3 or axis 6
Customer Power (CP)
Utility Power
2+2
Protective earth
2+2
0,5 mm 2
250 VAC, 5 A rms
1
0,5 mm 2
250 VAC
Customer signals (CS)
Signals twisted pair
20
20 (10x2)
0,24 mm 2 50 V DC, 1 A rms
Signals twisted pair and
separate shielded
8
8 (4x2)
0,24 mm 2 50 V DC, 1 A rms
4
4
0,4 mm 2
Ethernet CAT 5e,
100 Mbit i
Servo motor power
At drive
3
1,5 mm 2
600 VAC, 12 A rms
Protective earth
At drive
1
1,5 mm 2
600 VAC
Signals twisted pair for
resolver
-
6 ii
0,23 mm 2 50 V DC, 1 A rms
Brake
-
2
0,23 mm 2 50 V DC, 1 A rms
Temperature control/PTC -
2
0,23 mm 2 50 V DC, 1 A rms
4
12.5 mm
inner diameter iii
Lower and Upper arm
2
Protective earth (Lower
and Upper arm)
1
35 mm 2 iv 600 VAC, 150 A rms
at 20°C (68°F)
Customer bus (Ethernet)
Bus signals
Servo motor signals
Media
Water/Air (PROC 1-4)
Max. air pressure 16
bar/230 PSI.
Max. water pressure
10 bar/145 PSI.
Welding power (WELD)
i
Ethernet with wire colors according to PROFINET standard, M12-connectors.
Continues on next page
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2 SpotPack and DressPack
2.6.2 Configuration result for Type Se
Continued
ii Interface only at axis 3 or axis 6.
iii For LeanID 2x1/2" + 2x3/8", only upper arm
iv For LeanID upper arm 25 mm 2 , only upper arm, 135 A rms
Required general options for Type Se
To enable the SpotPack IRB 6650S to perform as intended, general standard robot
options are required. These standard options are further described under other
chapters and are also mentioned in this chapter.
•
Option 716-1. 1 pc. Digital 24 VDC I/O 16 inputs/ 16 outputs
•
Option 727-1. 24V 8 Amps power supply
Required options for servo gun
To enable the spot welding function package SpotPack 6650S to run with a servo
controlled gun, some additional (additional to those described in previous section
"Required general options for Type Se") servo drive options are required. These
standard options are described under other chapters and are also mentioned below
in this chapter.
•
Option 770-4. First additional drive, W Drive
•
Option 864-1. Resolver connection, axis 7
•
Option 785-1. Robot Gun
•
Option 786-1,-2,-3,-4. Connection to first drive (cable length to be stated)
•
Option 635-3. Spot Servo. Software option for servo controlled guns.
•
(Software option 635-4 and option 635-5 could also be used)
Also option 630-1, Servo tool change, should be added if servo gun tool change
is required.
Required Spot Welding cabinet options for Type Se
The SpotPack IRB 6650S also requires a Spot Welding cabinet (option 768-3) to
perform as intended. There are three different variants (see below) of Spot Welding
cabinets available. Weld timer brand and weld capacity are stated by choosing
one of the optional variants. Additional features could then be added to each cabinet
variant. All these options are further described under Spot Welding cabinet on
page 131 and are also mentioned in this chapter.
xx1000000518
Continues on next page
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2 SpotPack and DressPack
2.6.2 Configuration result for Type Se
Continued
Option
Type
Description
782-1
Bosch Basic AC
This option gives a basic Spot Welding cabinet
equipped with a weld timer from Bosch with an integrated AC-thyristor with basic capacity. Type Bosch
PST 6100.630L1.
782-7
Bosch Basic MFDC
This option gives a basic Spot Welding cabinet
equipped with a weld timer from Bosch with an integrated inverter with basic capacity. Type Bosch PSI
6100.630L1.
782-11
Bosch MFDC ProfiNet
This option gives a basic Spot Welding cabinet
equipped with a weld timer from Bosch with an integrated inverter with basic capacity. Type Bosch PSI
61C0.751OEM.
Additional options to the different Spot Welding cabinets are mentioned below.
For further technical details as well as restrictions in combinations see chapter 1.8
Spot Welding cabinet
Option
Type
Description
788-1
Forced air cooling
Offers a cooling fan with housing placed on the rear
of the Spot Welding cabinet which forces air on the
cooling surface/grids of the thyristor or MFDC inverter.
789-1
Earth fault protection unit Offers an earth fault protection integrated with the
circuit breaker for the weld power.
790-1
Contactor for weld power Offers a weld contactor with necessary wiring placed
inside the Spot Welding cabinet.
791-1
Weld power cable, 7 m
Offers floor cable of 7 m length for weld power.
791-2
Weld power cable, 15 m
Offers floor cable of 15 m length for weld power.
858-1
Bosch Adaptive control
Offers additional functionality for adaptive welding
regulation. Only possible with option 782-11.
Continues on next page
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2 SpotPack and DressPack
2.6.2 Configuration result for Type Se
Continued
Required Water and Air unit options for Type Se
The SpotPack IRB 6650S also requires Water and Air unit options to perform as
intended. These options are further described under chapter 1.9 Water and Air unit
and are also mentioned in this chapter.
xx0900000738
Option
Type
Description
792-1
Water and Air unit, type S Offers the basic water and air unit for type S including
splitbox for signal distribution.
793-1
Second water return
Offers an additional water return circuit.
797-1
Cable to split box, 7 m
Offers floor cable of 7 m length for signals between
the Spot Welding cabinet and to the split box placed
on the water and air unit.
797-2
Cable to split box, 15 m
Offers floor cable of 15 m length for signals between
the Spot Welding cabinet and to the split box placed
on the water and air unit.
797-3
Cable to split box, 22 m
Offers floor cable of 22 m length for signals between
the Spot Welding cabinet and to the split box placed
on the water and air unit.
797-4
Cable to split box, 30 m
Offers floor cable of 30 m length for signals between
the Spot Welding cabinet and to the split box placed
on the water and air unit.
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2 SpotPack and DressPack
2.6.3 Summary Type Se
2.6.3 Summary Type Se
General
The following options are the minimum required to form a complete SpotPack Type
Se.
DressPack
•
Option 16-1. Connection to cabinet, (Cable length and communication type
to be stated)
•
Option 455-1, 455-4. Parallel or Parallel and Bus communication
(Communication type to be stated)
•
Option 778-2. Spot Welding
•
Option 798-2. External routing, DressPack Lower arm (Routing type to be
stated)
•
Option 780-2. External routing, DressPack Upper arm (Routing type to be
stated)
Note
See Robot Gun on page 58 for further drive details.
General options
•
Option 716-1. 1 pc. Digital 24 VDC I/O 16 inputs/ 16 outputs
•
Option 727-1. 24V 8 Amps power supply
Required options for servo gun
• Option 770-4. First additional drive, W Drive
•
Option 785-1. Robot Gun
•
Option 786-1,-2,-3,-4. Connection to first drive (cable length to be stated)
•
Option 635-3. Spot Servo
•
Option 768-3. Spot Welding small
•
Option 782-1,-7, -11. Weld timer capacity
•
Option 791-1 Power cable 7 m (other lengths available)
•
Option 792-1. Water and air unit, Type S
•
Option 797-1. Splitbox cable 7 m (other length available)
Spot Welding cabinet
Water and air unit
Other described options depend on specific system need and performance.
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2 SpotPack and DressPack
2.7.1 Introduction
2.7 Type HSe
2.7.1 Introduction
General
Variant Type HSe is designed for handling against a stationary mounted Spot
Welding servo controlled tool (electrical gun). Included main modules are shown
in Figure below. Available configurations with linked option numbers are described
below with starting with the DressPack.
xx1000000519
Pos
Name
A
Spot Welding cabinet
B
Robot Cabinet IRC5 (incl. 7 th axis drive)
C
DressPack, Floor
D
DressPack, Lower arm
E
DressPack, Upper arm
F
Water and Air unit with hoses
G
Robot Gripper
H
Stationary gun with axis 7
Available configurations with linked option numbers are described below.
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2.7.1 Introduction
Continued
Option description
Option
Type
Description
16-1
Connection to cabin- Floor cables and connections inside the I/O section for the
et
DressPack are chosen. The length and configuration of the
floor harness is specified under the options below.
Option 94-1,-2,-3,-4 for parallel communication.
Option 90-2,-3,-4,-5 for parallel communication and field
bus communication with Can/DeviceNet.
Option 92-2,-3 for parallel communication and field bus
communication with Profibus.
455-1
Parallel communica- Offers the signal cables needed for parallel communication
tion
in lower and upper arm DressPack. To be combined with
option 94-1,-2,-3,-4,-5.
455-4
Parallel and Bus
communication
Offers the signal cables needed for the combination of
parallel and bus communication in lower and upper arm
DressPack. To be combined with
option 90-2,-3,-4,-5 or 92-2,-3.
455-8
Parallel and Ethernet
Offers the signal cables needed for the Ethernet communication in combination in lower and upper arm DressPack. To
be combined with option 859-1,-2,-3,-4. Requires selection
of option 94-X.
The available alternatives and allowed combinations are shown in the schematic
table below.
Application Interface Option 455-1,
Option 94-1,-2,-3,-4
Option 778-1,
connected to
Parallel communication Cable length,
Material Handling
Option 16-1, Cabinet
Parallel communicaiton
Option 455-4,
Option 90-2,-3,-4,-5
Parallel and bus commu- Option 92-2,-3
nication
Cable length, Parallel
and bus communication
Option 455-8,
Parallel and Ethernet
communication
Option 859-1, -2, -3, -4
Cable length, Ethernet
communication
Continued
Lower arm
Option 778-1,
Option 798-3, Base to axis
Material Handling 3
Option 798-2, Base to axis
2
Upper arm
Option 780-3, -4, Axis 3 to 6
External routing
Option 780-2, Axis 2 to 6
External routing
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2 SpotPack and DressPack
2.7.2 Configuration result for Type HSe
2.7.2 Configuration result for Type HSe
General
Depending on the choice of options above the DressPack will have different content.
The choice of routing will not affect the content. See tables for signal content below.
DressPack Type HSe. Parallel communication
• Option 16-1 with Connection to cabinet
•
(Option 94-1,-2,-3,-4 to specify cable length)
•
Option 455-1. Parallel communication
•
Option 778-1 Material Handling
•
Option 798-2 or Option 798-3. Internal routing, DressPack Lower arm
One of the options:
•
Option 780-2 (and Option 798-2). External routing with retract arm
•
Option 780-3, -4 (and Option 798-3). External routing, DressPack Upper arm
The table below shows the available type of wires/media.
Type
At terminals At connection Cable/part Allowed capacity
in cabinet
point. Base, Ax- area
is 2/3 or axis 6
Customer Power (CP)
Utility Power
2+2
Protective earth
2+2
0,5 mm 2
250 VAC, 5 A rms b
1a
0,5 mm 2
250 VACa
Customer Signals (CS)
Signals twisted pair
20
20 (10x2) c
0,24 mm 2 50 V DC, 1 A rms
Signals twisted pair and
separate shielded
8
8 (4x2)
0,24 mm 2 50 V DC, 1 A rms
1
12,5 mm
inner diameter
Media
Air (PROC 1)
Max. air pressure
16 bar/230 PSI
a. Not included in option 780-3.
b. For option 780-3 50 VAC / 60 VDC.
c. For option 780-3 8 signals instead of 20.
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2 SpotPack and DressPack
2.7.2 Configuration result for Type HSe
Continued
DressPack Type HSe. Parallel and field bus communication, Can/DeviceNet
• Option 16-1 with Connection to cabinet
•
(Option 90-1,-2,-3,-4 to specify cable length)
•
Option 455-4. Parallel and bus communication
•
Option 778-1. Material Handling
•
Option 798-2 or Option 798-3. Internal routing, DressPack Lower arm
One of the options:
•
Option 780-2 (and Option 798-2). External routing with retract arm
•
Option 780-3, -4 (and Option 798-3). External routing, DressPack Upper arm
The table below shows the available type of wires/media.
Type
At terminals At Connection Cable/part Allowed capacity
in cabinet
point. Base, Ax- area
is 2/3 or axis 6
Customer Power (CP)
Utility Power
2+2
Protective earth
2+2
0,5 mm 2
250 VAC, 5 A rms b
1a
0,5 mm 2
250 VAC a
Customer Signals (CS)
Signals twisted pair
20
20 (10x2) c
0,23 mm 2 50 V DC, 1 A rms
Signals twisted pair and
separate shielded
8
8 (4x2)
0,23 mm 2 50 V DC, 1 A rms
Customer bus (CBus)
Bus signals
At bus board 2
0,14 mm 2 Can/DeviceNet
spec
Bus signals
At bus board 2
0,23 mm 2 50 V DC, 1 A rms
Signals twisted pair
6
6(3x2)
0,14 mm 2 50 V DC, 1 A rms
1
12,5 mm
inner diameter
Media
Air (PROC 1)
Max. air pressure
16 bar/230 PSI
a. Not included in option 780-3.
b. For option 780-3 50 VAC / 60 VAC.
c. For option 780-3 8 signals instaed of 20.
Continues on next page
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2 SpotPack and DressPack
2.7.2 Configuration result for Type HSe
Continued
DressPack Type HSe. Parallel and field bus communication, Profibus
• Option 16-1 with Connection to cabinet
•
(Option 92-1,-2 to specify cable length)
•
Option 455-4. Parallel and bus communication
•
Option 778-1. Material Handling
•
Option 798-2 or Option 798-3. Internal routing, DressPack Lower arm
One of the options:
•
Option 780-2 (and Option 798-2). External routing with retract arm
•
Option 780-3, -4 (and Option 798-3). External routing, DressPack Upper arm
The table below shows the available type of wires/media.
Type
At terminals At connection Cable/part Allowed capacity
in cabinet
point. Base, Ax- area
is 2/3 or axis 6
Customer Power (CP)
Utility Power
2+2
Protective earth
2+2
0,5 mm 2
250 VAC, 5 A rms b
1a
0,5 mm 2
250 VAC a
Customer Signals (CS)
Signals twisted pair
22
22 (11x2) c
0,24 mm 2 50 V DC, 1 A rms
Signals twisted pair and
separate shielded
8
8 (4x2)
0,24 mm 2 50 V DC, 1 A rms
Customer bus (CBus)
Bus signals
At bus board 4
0,14 mm 2 Profibus 12 Mbit/s
spec
Signals twisted pair
6
6 (3x2)
0,14 mm 2 50 V DC, 1 A rms
1
12,5 mm
inner diameter
Media
Air (PROC 1)
Max. air pressure
16 bar/230 PSI
a. Not included in option 780-3.
b. For option 780-3 50 VAC / 60 VDC.
c. For option 780-3 8 signals instead of 22.
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2.7.2 Configuration result for Type HSe
Continued
DressPack Type HSe. Parallel and field bus communication, Ethernet
• Option 16-1 with Connection to cabinet
•
(Option 859-1,-2, -3, -.4 to specify cable length)
•
(Option 94-1, -2, -3, -4 to specify cable length)
•
Option 455-8. Parallel and bus communication
•
Option 778-1. Material Handling
•
Option 798-2 or Option 798-3. Internal routing, DressPack Lower arm
One of the options:
•
Option 780-2 (and Option 798-2). External routing with retract arm
•
Option 780-3, -4 (and Option 798-3). External routing, DressPack Upper arm
The table below shows the available type of wires/media.
Type
At termin- At connection Cable/part Allowed capacity
als in cabin- point. Base,
area
et
Axis 2/3 or axis
6
Customer Power (CP)
Utility Power
2+2
Protective earth
2+2
0,5 mm 2
250 VAC, 5 A rms i
1
0,5 mm 2
250 VAC a
Customer Signals (CS)
Signals twisted pair
20
20 (10x2) ii
0,24 mm 2 50 V DC, 1 A rms
Signals twisted pair and
separate shielded
8
8 (4x2)
0,24 mm 2 50 V DC, 1 A rms
4
4
0,4 mm 2
1
12,5 mm Max. air pressure 16
inner dia- bar/230 PSI
meter
Customer bus (Ethernet)
Bus signals
Ethernet CAT 5e, 100
Mbit iii
Media
Air (PROC 1)
i
ii
iii
For option 780-3 50 VAC / 60 VDC.
For option 780-3 8 signals instead of 20.
Ethernet with wire colors according to PROFINET standard, M12-connectors.
Continues on next page
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2.7.2 Configuration result for Type HSe
Continued
Required general options for Type HSe
To enable the SpotPack 6650S to perform as intended, general standard robot
options are required. These standard options are further described under other
chapters and are also mentioned in this chapter.
•
Option 716-1. 1 pc. Digital 24 VDC I/O 16 inputs/ 16 outputs
•
Option 727-1. 24V 8 Amps power supply
Required options for servo gun
To enable the spot welding function package SpotPack 6650S to run with a servo
controlled gun, some additional (additional to those described in previous section
"Required general options for Type Se") servo drive options are required. These
standard options are described under other chapters and are also mentioned below
in this chapter.
•
Option 770-4. First additional drive, W Drive
•
Option 864-1. Resolver connection, axis 7
•
Option 785-5. Stationary gun
•
Option 786-1,-2,-3,-4. Connection to first drive (cable length to be stated)
•
Option 635-3. Spot Servo. Software option for servo controlled guns.
•
(Software option 635-5 could also be used)
Also option 630-1, Servo tool change, should be used if servo gun tool change is
required.
Required Spot Welding cabinet options for Type HSe
The SpotPack 6650S also requires a Spot Welding cabinet (option 768-3) to perform
as intended. There are three different variants (see below) of Spot Welding cabinets
available. Weld timer brand and weld capacity are stated by choosing one of the
optional variants. Additional features could then be added to each of the cabinet
variants. All these options are further described under Spot Welding cabinet on
page 131 and are also mentioned in this chapter.
xx1000000518
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2.7.2 Configuration result for Type HSe
Continued
Option
Type
Description
782-1
Bosch Basic AC
This option gives a basic Spot Welding cabinet
equipped with a weld timer from Bosch with an integrated AC-thyristor with basic capacity. Type Bosch
PST 6100.630L1.
782-7
Bosch Basic MFDC
This option gives a basic Spot Welding cabinet
equipped with a weld timer from Bosch with an integrated inverter with basic capacity. Type Bosch PSI
6100.630L1.
782-11
Bosch MFDC ProfiNet
This option gives a basic Spot Welding cabinet
equipped with a weld timer from Bosch with an integrated inverter with basic capacity. Type Bosch PSI
61C0.751OEM.
Additional options to the different Spot Welding cabinets are mentioned below.
For further technical details as well as restrictions in combinations see chapter 1.8
Spot Welding cabinet.
Option
Type
Description
788-1
Forced air cooling
Offers a cooling fan with housing placed on the rear
of the Spot Welding cabinet which forces air on the
cooling surface/grids of the thyristor or MFDC inverter.
789-1
Earth fault protection unit Offers an earth fault protection integrated with the
circuit breaker for the weld power.
790-1
Contactor for weld power Offers a weld contactor with necessary wiring placed
inside the Spot Welding cabinet.
791-1
Weld power cable, 7 m
Offers floor cable of 7 m length for weld power.
791-2
Weld power cable, 15 m
Offers floor cable of 15 m length for weld power.
809-1
Process cable to stationary Offers floor cable of 7 m length for process signals
gun, 7 m
between the Spot Welding cabinet and to the stationary gun.
809-2
Process cable to stationary Offers floor cable of 15 m length for process signals
gun, 15 m
between the Spot Welding cabinet and to the stationary gun.
858-1
Bosch Adaptive control
Offers additional functionality for adaptive welding
regulation. Only possible with option 782-11.
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2 SpotPack and DressPack
2.7.3 Interface description stationary gun
2.7.3 Interface description stationary gun
General
The interface towards the stationary gun includes 3 parts.
•
Signal interface with a signal connector type modular Harting
•
(Cable option 809-1, -2). The connector configurations are described in the
tables below. Signals with (parentheses) are to be connected by customer.
Other signals are connected if a complete SpotPack Type HS is ordered.
•
Power cable with a Multi Contact interface (Cable option 791-1 or option
791-2)
•
(Ending Multi contact type MC TSB 150/35).
•
Water and air connections made by the customer directly on the water and
air unit. (See chapter Water and Air unit on page 139)
The connector configurations are described in the circuit diagram included in the
Product Manual DressPack/SpotPack IRB 6600/7600, art No. 3HAC025058-001.
The Harting connector is shown below. The different main parts within the connector
are shown both with name and Harting article number. Corresponding parts at the
tool are available within the Harting product offer.
Name
Harting article No.
Hood
09 30 010 0543
Hinged frame, hood
09 14 010 0303
Multicontact, female (HD)
09 14 025 3101
Multicontact, female (EE)
09 14 012 3101
Multicontact, female (DD)
09 14 008 3101
For the contacts above corresponding female crimp-contacts for the different cable
diameters are required.
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2 SpotPack and DressPack
2.7.3 Interface description stationary gun
Continued
Required Water and Air unit options for Type HS
The SpotPack IRB 6650S also requires Water and Air unit options to perform as
intended. These options are further described under chapter 1.9 Water and Air unit
and are also mentioned in this chapter.
xx0900000738
Option
Type
Description
792-2
Water and Air unit, type HS Offers the basic water and air unit for type HS including splitbox for signal distribution.
793-1
Second water return
Offers an additional water return circuit.
796-1
Electrical proportional
valve for air
Offers a proportional valve with cables and additional
hoses.
797-1
Cable to split box, 7 m
Offers floor cable of 7 m length for signals between
the cabinet and to the split box placed on the water
and air unit.
797-2
Cable to split box, 15 m
Offers floor cable of 15 m length for signals between
the cabinet and to the split box placed on the water
and air unit.
797-3
Cable to split box, 22 m
Offers floor cable of 22 m length for signals between
the cabinet and to the split box placed on the water
and air unit.
797-4
Cable to split box, 30 m
Offers floor cable of 30 m length for signals between
the cabinet and to the split box placed on the water
and air unit.
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2 SpotPack and DressPack
2.7.4 Summary Type HSe
2.7.4 Summary Type HSe
DressPack
The following options are the minimum required to form a complete SpotPack Type
HSe:
•
Option 16-1. Connection to cabinet, (Cable length and communication type
to be stated)
•
Option 455-1, 455-4. Parallel or Parallel and Bus communication
(Communicationtype to be stated)
•
Option 778-1. Material Handling
•
Option 798-2 or Option 798-3. Internal routing, DressPack Lower arm (Routing
type to be stated)
•
Option 780-2, 780-3, 780-4. External routing, DressPack Upper arm (Routing
type to be stated)
•
Option 716-1. 1 pc. Digital 24 VDC I/O 16 inputs/ 16 outputs
•
Option 727-1. 24V 8 Amps power supply
General options
Required options for servo gun
• Option 770-4. First additional drive, W Drive
•
Option 785-5. Stationary gun
•
Option 786-1. Connection to first drive (other lengths available)
•
Option 635-3. Spot Servo. Software option for servo controlled guns
•
Option 768-3. Spot Welding small
•
Option 782-1,-7 and -11. Weld timer capacity
•
Option 791-1. Power cable 7 m (other lengths available)
•
Option 809-1. Process cable to stationary gun (other lengths available)
•
Option 792-2. Water and air unit, Type HS
•
Option 797-1. Splitbox cable 7 m. (other lengths available)
Spot Welding cabinet
Water and air unit
Other described options depend on specific system need and performance.
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2 SpotPack and DressPack
2.8.1 Introduction to Spot Welding cabinet
2.8 Spot Welding cabinet
2.8.1 Introduction to Spot Welding cabinet
General
The Spot Welding cabinet for SpotPack contains the electric components and
circuits needed for spot welding application. The Spot Welding cabinet, with the
welding controller build in, is controlled from the robot controller via the processor
software. The capacity and functionality depends on the choice of different option
combinations.
The Spot Welding cabinet is designed to be placed on top of the robot controller
cabinet (Single cabinet version option 700-3), see Figure below. This is also how
it is assembled at delivery.
xx0900000742
There are interface cables between the robot controller cabinet and the Spot
Welding cabinet (cable length 1.5 m, connected at rear of the control cabinet and
at front of Spot Welding cabinet). These cables includes power feeding for control
circuits, process signals to the welding gun, safety signals, communication towards
weld timer and I/O:s for indication and control. Depending on chosen options wiring
will differ (see option descriptions below for further details).
The Spot Welding cabinet has the following common main features.
•
Modular build for easy repair and installation (see Figure below)
•
Rotary switch with adjustable thermal release (not for UL option) and short
circuit release
•
Cross connection of signal handling with separate fusing for different circuits
to achieve selectivity
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2 SpotPack and DressPack
2.8.1 Introduction to Spot Welding cabinet
Continued
•
Programmable weld timer with proportional valve control
•
A compact cabinet family based on a common platform prepared for additional
options and for easy exchange
Note
Dimensions of the large cabinet within brackets.
900
715 (960)
550
710
150
100
660
570
715 (960)
650 (900)
700
R 570
xx1000000450
Weld power circuit
The electrical circuits of the Spot Welding cabinet consists of weld power circuit
and control circuits to control the welding. The welding power for the welding gun
is fed through a circuit breaker and welding thyristor (for AC welding) or inverter
(for MFDC welding) and further out to the welding power cable. The cabinet is
prepared for power feeding from the floor or from top. The welding power cable
(outgoing feeding) is connected, via cable gland, directly to terminals inside the
Spot Welding cabinet.
The circuit breaker has a built in thermal release that could be adjusted (not for
UL version) for customer specific needs to protect welding equipment and to get
selectivity in the power circuit. The thermal release is set at 110 A at delivery. The
maximum level should not exceed 150 A.
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2.8.1 Introduction to Spot Welding cabinet
Continued
Control Circuits
Power feeding 240/115 V AC and 24V DC for the control circuits is fed from the
robot controller cabinet. Also, the safety circuits in the robot controller cabinet are
used to interlock the welding timer.
A welding timer (Bosch), integrated with the air cooled thyristor or inverted, controls
the welding current. The welding timer includes control program that gives
possibility to program different weld sequences. The programming is normally
done on a programming device or a PC that is connected directly to the welding
timer. The interface between the robot system and the welding timer is handled
via a field bus interface (Can DeviceNet or ProfiNet) or parallel signals for option
781-2. Examples of signals are weld start, weld ready, weld programs choice and
error handling.
Also, cross connections, of interface signals and interlocking between the robot
system (I/O-boards), the water and air unit, signals to DressPack or stationary gun,
are done within the Spot Welding cabinet.
Programming device for the welding timer is not included in the delivery.
If the option 744-1 1 is chosen there will follow a door interlock with the Spot Welding
cabinet. If option 429-1 2 is chosen a circuit breaker type T3 will be supplied.
Note
For more information see:
•
Product manual for DressPack/SpotPack
•
Circuit diagrams
•
Separate manuals for the Bosch equipment
The welding capacity as w ell as the weld timer brand could be chosen among the
3 versions described below. Additional features could then be added to each of
the cabinet variants.
Option 782-1 Bosch Basic AC
This option gives a basic Spot Welding cabinet equipped with a weld timer from
Bosch with an integrated AC-thyristor with basic capacity.
General technical data
Description
Weld timer and thyristor
Bosch PST 6100.630L1
Power feeding
400-600 V AC
Max welding current
130 A rms, 100 kVA transformer
Max wire range, incoming power
3 x 70 mm 2
Main breaker (ABB Sace T1), thermal release 160 A (adjustable) 110-160 A
Main breaker, magnetic release
36 kA
Protection class
IP54
1
Door interlocking is always included in the large SpotWelding cabinet.
2
A UL/CSA approved circuit breaker will be supplied.
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2.8.1 Introduction to Spot Welding cabinet
Continued
xx0900000745
Option 782-7 Bosch Basic MFDC
This option gives a basic Spot Welding cabinet equipped with a weld timer from
Bosch with an integrated inverter with basic capacity.
General technical data
Description
Weld timer and thyristor
Bosch PST 610E
Max wire range, incoming power
3 x 70 mm 2
Power feeding
400-480 V AC
Max welding current
110 A rns, 95 kVA transformers
Main breaker (ABB Sace T1), thermal release 160 A (adjustable) 110-160 A
Main breaker, magnetic release
36 kA
Protection class
IP54
Option 782-13 Bosch MFDC ProfiNet
This option gives a basic Spot Welding cabinet equipped with a weld timer from
Bosch with an integrated inverter with basic capacity. This option is available with
small and large cabinet.
General technical data
Technical data
IEC
Weld timer and inverter
Bosch PSI 61C0.751OEM
Max wire range, incoming power
3x70 mm 2
Power feeding
400-480 V AC
Max welding current
110 A rms, 20 kA weld current
Protection class
IP54
Specific technical data small cabinet
Technical data
IEC
Main breaker (ABB Sace T1), thermal re- 110 A (adjustable) 110-160 A
lease
Main breaker, magnetic release
36 kA
Technical data
UL
Main breaker (ABB Sace T2), thermal re- 100 A (fixed)
lease
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2.8.1 Introduction to Spot Welding cabinet
Continued
Technical data
UL
Main breaker, magnetic release
70 kA
Specific technical data large cabinet
Technical data
IEC
Main breaker (ABB Sace XT1), thermal
release
100 A (adjustable) 100-160 A
Main breaker, magnetic release
36 kA
Technical data
UL
Main breaker (ABB Sace XT1), thermal
release
125 A (fixed)
Main breaker, magnetic release
65 kA
Option 828-1 Region A
Offers 120V power supply. Cannot be combined with service outlet 230V (option
736-1).
Mainly for the North American market.
Option 828-2 Region E
Offers 230V power supply. Cannot be combined with service outlet 120V (option
736-2).
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2.8.1 Introduction to Spot Welding cabinet
Continued
Option 788-1 Forced air cooling
Offers a cooling fan with housing placed on the rear of the Spot Welding cabinet
which forces air on the cooling surface/grids of the thyristor or MFDC inverter (see
pictures below). Cabling to the fan goes via a cable gland at the rear of the Spot
Welding cabinet. The fan runs continuously when the welding system is powered
up.
The fan is required to be used together with Bosch MFDC (option 782-7 and -11).
For the ACoptions (option782-1 and -2) the need will depend on the welding
conditions and surrounding temperature.
xx0900000746
Option 789-1 Earth fault protection unit
Offers an earth fault protection integrated with the circuit breaker for the weld
power. This protection could be used for AC welding or MFDC welding. The
sensitivity of the earth fault protection could be adjusted. If an earth fault occurs
the circuit breaker is tripped.
Note
For the large cabinet, an alternative earth fault protection is used.
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Continued
Option 790-1 Contactor for weld power
Offers a weld contactor with necessary wiring placed inside the Spot Welding
cabinet. The contactor is mounted after the thyristor or inverter and opens up the
weld circuit out from the cabinet. It is recommended to be used for increasing
safety or when using tool change for weld guns. The contactor is open when the
robot system is in motor off mode or when an specific I/O is set.
xx0900000747
Pos
Description
A
Weld contactor
Option 791-1 Weld power cable, 7 m
Offers floor cable of 7 m length for weld power (3x35 mm 2 ). One end of the weld
power cable is connected at terminal to the weld timer (Bosch) or the contactor
(when option 790-1 is chosen). The cable enters the Spot Welding cabinet cia cable
gland. The other end is equipped with an MC connector TSB160/35 and is connected
at either the manipulator base (for robot gun Type S or Se) or to the stationary gun
(for Type HS or HSe).
Option 791-2 Weld power cable, 15 m
Offers floor cable of 15 m length for weld power (3x35 mm²). See option 791-1 for
further details.
Option 809-1 process cable to stationary gun, 7 m
Offer floor cable of 7 m length for process signals between the Spot Welding cabinet
and the stationary gun. This option also includes internal cross connections between
I/O, weld timer and power feeding etc.
One end of the process cable enters the Spot Welding cabinet via cable gland and
is connected at Phoenix terminals. The other end is equipped with a HD Harting 3
modules and is connected to the stationary gun (for Type HS or HSe).
Option 809-2 process cable to stationary gun, 15 m
Offer floor cable of 15 m length for process signals between the Spot Welding
cabinet and the stationary gun. See option 809-1 for further details.
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2 SpotPack and DressPack
2.8.2 Interface description Spot Welding cabinet
2.8.2 Interface description Spot Welding cabinet
General
The interface towards the Spot Welding cabinet is described in the tables below.
Connections for Spot Welding cabinet
Type
Pcs
Specification
Allowed capacity
Incoming power
from line a
1
400-480 VAC,
Max. 110 A rms, 50/60 Hz
Outgoing power to
robot
1
Cable gland (min 24 mm / max Max. 150 A rms, 50/60 Hz
28 mm cable diameter)
Floor cable
2
35 mm 2
Max. 600 VAC,
150 A rms at + 20°C (68°F)
ambient temperature
Floor cable protect- 1
ive earth
35 mm 2
Max. 600 VAC,
150 A rms at + 20°C (68°F)
ambient temperature
a. Incoming power connection made by customer. For incoming power and safety
recommendations see the Product Manual DressPack/SpotPack IRB 6600/7600
3HAC025058-001.
Connections for Signals
Type
Pcs
Specification
Allowed capacity
Water and air unit
(XS 103)
1
Modular Harting connector,
type DD
24 V DC, Max 0,5 A / output
Stationary gun (XS
104)
1
Modular Harting connector,
type HD
24 V DC, Max 0,5 A / output
See interface description
Stationary gun type HS and
HSe
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2 SpotPack and DressPack
2.9.1 Introduction
2.9 Water and Air unit
2.9.1 Introduction
General
The Water and Air unit contains components for water and air distribution and
control within the SpotPack. The water and air unit is controlled from the robot
controller via the process software. Wiring is made via the Spot Welding cabinet.
The capacity and functionality depends on the choice of different option
combinations, see water and air unit options under this chapter.
The unit is only used for the spot welding application
The Water and Air unit
The Water and Air unit has the following main features (See Figure below):
•
Adjustable, high speed water flow sensors.
•
Adjustable digital pressure switch for air.
•
Air filter with auto draining.
•
Possibility to balance water flow for complete package and for individual
circuits.
•
Preparation for additional options and preparation for easy exchange of
complete unit or separate circuits.
•
Equipped with extra (plugged) air outlets.
xx0900000738
The standard water and air unit consists of four main assemblies.
•
Water in circuit
•
Water return circuit
•
Air supply circuit
•
Split box
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2.9.1 Introduction
Continued
Cables and hoses required for Water and Air unit are defined and described under
each option for water and air unit.
Water in circuit
The function of the water in circuit is to open / close the cooling water supply to
the Spot welding gun (see Figure below). An electrical 2 port solenoid valve is
used. The valve is controlled by a digital signal from the robot control system.
The circuit begins from left to right with a lead in hole in the mounting plate, a G
½" thread is used for the connection of the factory water supply system, electrical
2 port solenoid valve and ends with a Parker Pushlock adapter. (Suitable for a
Parker Pushlock DIN 20 078 A, we recommend a Parker Pushlock 39C82-15-8BK
fitting). From this point the water is led to the gun/robot base.
xx0900000749
Water return circuit
The water return circuit monitors the flow of the returning cooling water from the
Spot welding gun (see Figure below). The flow switch detects if the water flow is
too low in the cooling water circuit.
The flow switch gives a digital signal to the robot control system, which
automatically shuts off the electrical shut off valve in the water in circuit if the flow
is too low.
The system and the supply of cooling water are then automatically stopped to
minimize risk of damage to the system.
The water return circuit is delivered with a pre-set flow limit, set to 8 liters per
minute at 0.2 MPa water pressure.
The water return circuit begins from right with a Parker Pushlock adapter (suitable
for a Parker Pushlock DIN 20 078 A, we recommend a Parker Pushlock
39C82-15-8BK fitting).
It is also equipped with a flow control valve; the flow control can adjust the water
flow to the desired flow level. The flow rate can be monitored by the scale on the
flow control valve. The scale can be rotated so that easy reading can be performed.
This will serve as a rough function check in the flow range between 1 to 8 litres
per minute.
The flow control valve is when delivered adjusted for maximum flow.
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2.9.1 Introduction
Continued
The circuit ends with a check-valve that will stop any reversing water flow and ends
with an internal G ½" thread. From this point the water is led to the factory water
system.
xx0900000750
A second water return, option 793-1, is also available with the same specification
as above.
Air supply circuit
The air supply circuit provides the function package with filtered air (see Figure
below).
The air supply circuit begins with a internal G ½" thread, manually operated shut
off valve with residual pressure release though a silencer, air filter with nominal
filtration of 5 µm with a metal protection of the bowl, a digital pressure switch and
a cross interface containing plugged air outlet ports (internal G 3/8" thread).
There is a digital pressure switch to monitor the air pressure and to give a signal
to the control system if the pressure becomes too low.
The pressure switch is delivered with pre-set pressure limit, set to 0.6 MPa.
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2.9.1 Introduction
Continued
The air supply circuit ends with a Parker Pushlock adapter (suitable for a Parker
Pushlock DIN 20 078 A, we recommend a Parker Pushlock 39C82-15-8BK fitting).
xx0900000751
Split box/Connection box
With the split box, the 24VDC supply and signals are connected and distributed to
the different units on the water and air unit, see Figure below. The design makes
disconnection of separate items for service and repair on the water and air unit
very easy. The split box has a protection class IP67, which means it is well protected
against dust and water leakage.
xx0900000752
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2.9.1 Introduction
Continued
Mounting
Type S, robot mounted spot welding gun, is mounted at the robot at factory and
water and air hoses are included and connected to the robot base.
xx0900000754
Type HS, robot handles part against a pedestal mounted spot welding gun, the
Water and Air panel is delivered in a together with the robot.
Electric proportional valve (option 796-1)
The proportional valve controls the welding force of the pneumatic spot welding
gun. The proportional valve is controlled by the welding timer in the Spot welding
cabinet.
An analogue signal 0 - 10V, controls the proportional valve and the air pressure in
the range of 0.05 - 0.9MPa.
xx0900000756
Signals for water and air unit
Electrical connections to robot I/O board are made via the Split box on the Water
and Air unit or to connection box at robot base (Figure below shows Split box. For
connection box see Circuit diagram.)
8 x M12 connections (4 pins) are available. The number in use depends on option
choices. But at least two are free connection and can be used for customer
purposes.
The Split box has six connections prepared for the following units:
•
1. Electric water shut off valve
•
2. Pressure switch
•
3. Flow switch 1
•
4. Flow switch 2 (Option 793-1 Second Water Return)
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2.9.1 Introduction
Continued
•
5. Proportional valve: Prop. ref. signal & pressure OK signal (Option796-1
Electrical proportional valve for air)
•
5. Proportional valve: Power supply
•
(Option796-1Proportional valve for air)
The cable and cable length between the Split box and the Spot Welding cabinet
must be specified (see option 797-1,-2,-3,-4).
en0900000757
Option
Type
Description
792-1
Water and Air unit, type S
The basic water and air unit for type S is equipped
for a robot handled gun and with the following components:
Water in circuit
Water return circuit
Air supply circuit
Split box
1/2 " hose between air supply circuit and manipulator
base (PROC 1
)1/2 " hose between water in circuit and manipulator
base (PROC 2)
1/2 " hose between water return circuit and manipulator base (PROC 3)
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Continued
Option
Type
Description
792-2
Water and Air unit, type HS The basic water and air unit for type HS is equipped
for a pedestal/stationary gun.
Hoses between water and air unit, welding equipment and robot are not supplied. These have to be
arranged by the customer.
793-1
Second water return
796-1
Electrical proportional valve Offers a proportional valve with integrated control
air Eq.
circuit and connection cable to the splitbox.
797-1
Cable to split box, 7 m
Offers floor cable of 7 m length for signals to the
split box placed on the water and air unit. This cable
is connected to the cabinet with a modular Harting
and it ends with a quick connector at the split box.
797-2
Cable to split box, 15 m
Offers floor cable of 15 m length for the split box.
See description of option 797-1.
797-3
Cable to split box, 22 m
Offers floor cable of 22 m length for the split box.
See description of option 797-1.
797-4
Cable to split box, 30 m
Offers floor cable of 30 m length for the split box.
See description of option 797-1.
Yhe option adds an additional water return circuit.
See Water return circuit.
An additonal 1/2” water hose (PROC 4) from the
Water and Air unit to manipulator base is included.
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2.9.2 Technical data Water and Air unit
2.9.2 Technical data Water and Air unit
Media interface description
The interface towards the Water and Air unit is described in table below.
Type
Pcs
Specification
Incoming water
1
G 1/2” thread a
Outgoing water
1
G 1/2” thread a
Incoming air
1
G 1/2” thread a
Extra air outlet
1
G 3/8” thread b
a. Connection to be made by customer.
b. Plugged at delivery (to be used for tip-dresser or other equipment).
General data
Water
Description
Operating pressure
Max. 0.6 MPa / 87PSI
Proof pressure
1.2 MPa / 174 PSI
Maximum pressure drop
< 0.2 MPa at 8 litre/minute a
Flow regulating (each circuit)
1 - 16 l/min
Flow setting range
-0.100 - 1.000 MPa
Water quality
Normal filtred industrial water 80 to 100 mesh.
a. The pressure drop is measured under the following conditions:
Measuring point 1: Incoming water connection at water and air unit.
Measuring point 2: Outgoing water connection at water and air unit.
The water hoses (Proc 2 and Proc 3) are cross-connected at the end at axis 6 (the
pressure drop is measured without any tool).
Air
Description
Operating pressure
Max. 1.0 MPa / 145 PSI
Flow capacity
Max. 5800 litres/min. (at 0.7 MPa with a 0.1 MPa
pressure drop
Pressure switch set range
- 0.100 - 1.000 MPa
Air quality
Use clean air.
When there is excessive condensate, install a device
that eliminates water such as dryer or water separator
(Drain Catch) on the inlet side of the air filter.
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2 SpotPack and DressPack
2.10 Connection kits
2.10 Connection kits
General
For detailed information on connection location see Interface descriptions for
DressPack on page 70
Below is an example of a connector kit and its parts.
xx1300000223
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Continued
Base - Connector kits
DressPack options Resolver conn., axis 7 Description
Option Name
798-2
798-3
X
X
459-1 CP/CS, Proc 1 on base
864-1
453-1 FB 7
X
Option 459-1, CP/CS, Proc 1 on base
R1. CP/CS and Proc 1 on base.
This option offers a kit with connectors. This must be assembled by the customer.
The kit contains:
•
1 Hose fittings (Parker Pushlock, (½”, M22x1,5 Brass, 24 degree seal))
•
Connector with:
1 pcs Hood Foundry (Harting)
HAN EMC / M 40
1 pcs Hinged frame (Harting)
Shell size 16
2 pcs Multicontact, female (Harting)
Type HD (25 pin)
1 pcs Multicontact, female (Harting)
Type DD (12 pin)
1 pcs Multicontact, female (Harting)
Type EE (8 pin)
10 pcs Female crimp contacts
For 1,5 mm 2
10 pcs Female crimp contacts
For 0,5 mm 2
10 pcs Female crimp contacts
For 1,0 mm 2
10 pcs Female crimp contacts
For 2,5 mm 2
12 pcs Female crimp contacts
For 0,14– 0,37 mm 2
45 sockets
For 0,2– 0,56 mm 2
Assembly Accessories to complete connector
Assembly instruction
Option 453-1, FB 7
R3. FB 7 on base
This option offers a kit with a connector. This must be assembled by the customer.
The kit contains:
•
Connector with:
1 pcs Multiple connector (pin)
Souriau
1 pcs Adaptor
8 pin
15 pcs Pin
for 0,13-0,25 mm 2
Assembly Accessories to complete connector
Assembly instruction
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Continued
Axis 2 - Connector kits
DressPack option
Description
Option
Name
798-2
(MH/SW 2)
458-1
CP/CS, Proc 1
axis 3
X
4 module Harting
479-1
Weld, Proc 2-4
axis 3
X
MC
Option 458-1, CP/CS, Proc 1 axis 3
R2. CP/CS and Proc 1 on axis 2/3
This option offers a kit with connectors. This must be assembled by the customer.
The kit contains:
•
1 Hose fittings (Parker Pushlock, (½”, M22x1,5 Brass, 24 degree seal))
•
Connector with:
1 pcs Hood Foundry (Harting)
HAN EMC / M 40
1 pcs Hinged frame (Harting)
Shell size 16
2 pcs Multicontact, male (Harting)
Type HD (25 pin)
1 pcs Multicontact, male (Harting)
Type DD (12 pin)
1 pcs Multicontact, male (Harting)
Type EE (8 pin)
10 pcs Male crimp contacts
For 1,5 mm 2
10 pcs Male crimp contacts
For 0,5 mm 2
10 pcs Male crimp contacts
For 1,0 mm 2
10 pcs Male crimp contacts
For 2,5 mm 2
12 pcs Male crimp contacts
For 0,14 – 0,37 mm 2
45 pin
For 0,2 – 0,56 mm 2
Assembly Accessories to complete connector
Assembly instruction
Option 479-1, Weld, Proc 2-4 axis 3
R2. Weld and Proc 2-4 on axis 2/3
This option offers a kit with weld connector and fittings. This must be assembled
by the customer.
The kit contains:
•
3 Hose fittings (Parker Pushlock, (½”, M22x1,5 Brass, 24 degree seal))
•
Weld connector with:
1 pcs Welding connector pin with flange (MC)
3x35 mm2 (25 mm2 pin)
1 pcs Cable gland, plastic
Diameter 24-28 mm
Assembly Accessories to complete connector
Assembly instruction
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Continued
Axis 3 - Connector kits
DressPack options Description
Option Name
458-1
CP/CS,CBUS/SP/SS,
Proc 1 axis 3
798-3
X
UTOW
Option 458-1, CP/CS/CBus/SP/SS, Proc 1 axis 3
CP/CS/CBus/SP/SS, Proc 1 axis 3 on tool side for option 780-3 and 780-4.
This kit offers a kit with connectors to be mounted at toolside of axis 3.
This must be assembled by the customer.
The kit contains:
•
1 Hose fitting (Parker Push lock (1/2”, M22x1,5 Brass, 24 degree seal))
•
Connector with:
CP/CS
1 pcs UTOW Pin connector 26p, bulkhead
UTOW71626PH05, Shell size 16
26 pcs Pin
RM18W3K, 0.21-0.93 mm 2
CBUS
1 pcs UTOW Pin connector 10p, bulkhead
UTOW71210PH05 Shell size 12
10 pcs Pin
RM18W3K, 0.21-0.93 mm 2
Ethernet
1 pcs Socket connector M12
Harting 2103 88
4 pcs Socket
Harting 61 03 0, 0.13-0.33 mm 2
SP (Servo Power)
1 pcs Bulkhead contact M23
4 pcs Crimp pin 1 mm
AWG 24-17
4 pcs Crimp pin 2 mm
AWG 18-14
SS (Servo Signal)
1 pcs Bulkhead contact M23
17 pcs Pin
AWG 28-20
Assembly Accessories to complete connector
Assembly instruction
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Continued
Axis 6 - Connector kits
Description
Option
Name
780-2
(MH/SW 2)
452-1
Weld, Proc 1-4 axis 6
X
543-1
CP/CS/CBUS/SP/SS
Proc 1 axis 6
X
780-3
(MH 3)
4804(LeanID)
X
X
MC
X
UTOW
Option 543-1, CP/CS/CBus, Proc 1 axis 6
Harting
CP/CS/CBus, Proc 1 axis 6 on tool side for option 780-2.
This kit offers a kit with connectors to be mounted at toolside of axis 6.
This must be assembled by the customer.
The kit contains:
•
1 Hose fitting (Parker Push lock (1/2”, M22x1,5 Brass, 24 degree seal))
•
Connector with:
1 pcs Hood Foundry (Harting)
HAN
1 pcs Hinged frame (Harting)
Shell size 10
1 pcs Multicontact, male (Harting)
Type HD (25 pin)
1 pcs Multicontact, male (Harting)
Type DD (12 pin)
1 pcs Multicontact, male (Harting)
Type EE (8 pin)
10 pcs Male crimp contacts
For 1,5 mm 2
10 pcs Male crimp contacts
For 0,5 mm 2
10 pcs Male crimp contacts
For 1,0 mm 2
10 pcs Male crimp contacts
For 2,5 mm 2
15 pcs Male crimp contacts
For 0,14 – 0,37 mm 2
30 pins
For 0,2 – 0,56 mm 2
Assembly Accessories to complete connector
Assembly instruction
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Continued
Souriau
CP/CS/CBus/SP/SS, Proc 1 axis 6 on tool side for option 780-3 and 780-4.
This kit offers a kit with connectors to be mounted at toolside of axis 6.
This must be assembled by the customer.
The kit contains:
•
1 Hose fitting (Parker Push lock (1/2”, M22x1,5 Brass, 24 degree seal))
•
Connector with:
CP/CS
1 pcs UTOW Pin connector 26p, bulkhead
UTOW71626PH05, Shell size 16
26 pcs Pin
RM81W3K, 0.21-0.93 mm 2
CBUS
1 pcs UTOW Pin connector 10p, bulkhead
UTOW71210PH05 Shell size 12
10 pcs Pin
RM18W3K, 0.21-0.93 mm 2
Ethernet
1 pcs Socket connector M12
Harting 2103 88
4 pcs Socket
Harting 61 03 0, 0.13-0.33 mm 2
SP (Servo Power)
1 pcs Bulkhead contact M23
4 pcs Crimp pin 1 mm
AWG 24-17
4 pcs Crimp pin 2 mm
AWG 18-14
SS (Servo Signal)
1 pcs Bulkhead contact M23
17 pcs Pin
AWG 28-20
Assembly Accessories to complete connector
Assembly instruction
Option 452-1, Weld, Proc 1-4 axis 6
Weld and Proc 1-4 axis 6 on manipulator side
The process cable package from axis 2 to axis 6 (option 780-2) ends with free end
for media and for weld power cable. The option 452-1 offers a kit for connectors.
This must be assembled by the customer when hoses and power cable has been
cut to required length.
The kit contains:
•
4 Hose fittings (Parker Pushlock, (½”, M22x1,5 Brass, 24 degree seal))
•
1 Multi contact connector (Female) type including:
1 pc Welding connector socket incl. housing
3x35 mm 2 (35 mm 2 socket)
1 pc Cable gland
1 pc End housing
Assembly Accessories to complete connector
Assembly instruction
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3 Specification of variants and options
3.1 Introduction to variants and options
3 Specification of variants and options
3.1 Introduction to variants and options
General
The different variants and options for the IRB 6650S are described in the following
sections. The same option numbers are used here as in the specification form.
Related information
For the controller see Product specification - Controller IRC5.
For the software options see Product specification - Controller software IRC5.
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3 Specification of variants and options
3.2 Manipulator
3.2 Manipulator
Variants
Option
IRB Type
Handling capacity (kg)/Reach (m)
435-69
6650S
90/3.9
435-50
6650S
125/3.5
435-51
6650S
200/3.0
Manipulator color
Option
Description
Note
209-1
ABB Orange standard
209-202
ABB Graphite White standard
209-4 --192
Colors according to RAL-codes
Standard color
Note
Notice that delivery time for painted spare parts will increase for none standard
colors.
Protection types
Option
Protection type Note
287-4
Standard
287-3
Foundry Plus 2 See Protection type Foundry Plus 2 on page 9 for a complete description of protection type Foundry Plus 2.
IP 67
Warranty
Option
Type
Description
438-1
Standard warranty
Standard warranty is 12 months from Customer Delivery
Date or latest 18 months after Factory Shipment Date,
whichever occurs first. Warranty terms and conditions
apply.
438-2
Standard warranty + 12 Standard warranty extended with 12 months from end
months
date of the standard warranty. Warranty terms and conditions apply. Contact Customer Service in case of other
requirements.
438-4
Standard warranty + 18 Standard warranty extended with 18 months from end
months
date of the standard warranty. Warranty terms and conditions apply. Contact Customer Service in case of other
requirements.
438-5
Standard warranty + 24 Standard warranty extended with 24 months from end
months
date of the standard warranty. Warranty terms and conditions apply. Contact Customer Service in case of other
requirements.
438-6
Standard warranty + 6 Standard warranty extended with 6 months from end
months
date of the standard warranty. Warranty terms and conditions apply.
Continues on next page
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3 Specification of variants and options
3.2 Manipulator
Continued
Option
Type
Description
438-7
Standard warranty + 30 Standard warranty extended with 30 months from end
months
date of the standard warranty. Warranty terms and conditions apply.
438-8
Stock warranty
Maximum 6 months postponed start of standard warranty, starting from factory shipment date. Note that no
claims will be accepted for warranties that occurred before the end of stock warranty. Standard warranty commences automatically after 6 months from Factory
Shipment Date or from activation date of standard warranty in WebConfig.
Note
Special conditions are applicable, see Robotics Warranty
Directives.
Warranty for DressPack
Note
Option 780-3 upper arm DressPack HM3 is not covered by warranty.
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3 Specification of variants and options
3.3 Equipment
3.3 Equipment
General
Option
Type
Description
213-1
Safety lamp
A safety lamp with an orange fixed light can be mounted
on the manipulator. The lamp is active in MOTORS ON
mode. The safety lamp is required on a UL/UR approved
robot.
159-1
Fork lift device
Lifting device on the manipulator for fork-lift handling.
Note. When Cooling Fan for axis 1 motor unit is used, this
must be disassembled in order to use fork lift device.
37-1
Base plate
Can be used for IRB 6650S and IRB 7600. See Installation
on page 17, for dimension drawing.
87-1
Cooling fan for
Cannot be combined with Cooling fan for axis 2 motor opaxis 1 motor (IP 54) tion 88-1. For in use recommendations see
Cooling fan for axis 1 and 2 motor on page 55.
Not for protection Foundry Plus. Not together with track
motion.
88-1
Cooling fan for
For in use recommendations see
axis 2 motor (IP 54) Cooling fan for axis 1 and 2 motor on page 55.
Not for protection Foundry Plus. Not together with track
motion.
430-1
Upper arm covers
804-1
Labels for synchron- For a more accurate marking of the synchronization posiization markings
tion of the robot. Assembly instructions are included.
See Figures for Synchronize lables, axis 2 - 6.
See Figure in Upper arm covers on page 158. Included in
protection Foundry Plus.
Synchronize lables
The option contains synchronize lables for each axis.
Synchronize lables for Axis 2
xx1000000524
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3 Specification of variants and options
3.3 Equipment
Continued
Synchronize lables for Axis 3
xx1000000525
Synchronize lables for Axis 4
xx1000000526
Synchronize lables for Axis 5
xx1000000527
Synchronize lables for Axis 6
xx1000000528
Continues on next page
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3 Specification of variants and options
3.3 Equipment
Continued
Resolver connection, axis 7
Option
Description
Note
864-1
On base
Used together with first additional drive, option 907-1.
Upper arm covers
xx1000000529
Pos
Description
A
Option 430-1
Electronic Position Switches (EPS)
The mechanical position switches indicating the position of the three main axes
are replaced with electronic position switches for up to 7 axes, for increased
flexibility and robustness. For more detailed information, see Product
specification - Controller IRC5 with FlexPendant and Application manual - Electronic
Position Switches.
Foundry Plus Cable Guard
The manipulator cables are equipped with an additional protection of aluminized
leather against e.g. aluminium spitz and flashes and chips from machining. Process
cable for material handling from base to axis 3, option 798-3 has the same protection
Option
Description
Remark
908-1
Foundry Plus Cable
Guard
For extra protection of cables.
Requires option 287-3 Foundry Plus.
Working Range Limit
To increase the safety of the robot, the working range of axes 1, 2 and 3 can be
restricted by extra mechanical stops.
Option
Type
Description
29-1
Axis 1,15 degrees
Two stops which allow the working range to be restricted in increments of 15°.
29-2
Axis 1, 7.5 degrees
Two stops which allow the working range to be restricted in increments of 7,5°.
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3.3 Equipment
Continued
Option
Type
Description
32-1
Axis 2
Six stops which allow the working range to be restricted in increments of 15° at both end positions. Each
stop decreases the motion by 15°.
34-1
Axis 3
Six stops which allow the working range to be restricted in increments of 20° at both end positions. Each
stop decreases the motion by 20°.
Option
Type
Description
561-1
Extended work range
axis 1
To extend the working range on axis 1 from ± 180°
to ± 220°.
When the option is used the mechanical stop shall
be disassembled.
EPS (Electronic Position Switches) functionality
(option 810-1 or -2) is required.
Option
Type
Description
1999-1
Axis calibration
Preferred standard calibration method. Robust, high
performance axis calibration using only mechanical
calibration stops and software.
1999-2
Calibration Pendulum
Previous standard calibration method only to be used
in special cases if customers would like to harmonize
calibration with already installed base.
Extended work range
Standard calibration method
Note
The calibration methods are not interchangeable.
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3 Specification of variants and options
3.4 Floor cables
3.4 Floor cables
General
Additional floor cables for SpotPack options, see DressPack Floor on page 162.
Manipulator cable length
Option
Lengths
210-2
7m
210-3
15 m
210-4
22 m
210-5
30 m
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3 Specification of variants and options
3.5 Process DressPack
3.5 Process DressPack
Connection to
Option
Connection to
Description
16-1
Cabinet
The signals CP/CS are connected to 12-pole screw terminals,
Phoenix MSTB 2.5/12-ST-5.08, in the controller. The cable
between R1.CP/CS and the controller is supplied. For information about the limited number of signals available,
see Type H on page 79 to Type S on page 86
Option
Type
Description
455-1
Parallel commu- Includes customer power CP, customer signals CS.
nication
455-4
Parallel and bus Includes CP, customer signals and CAN/DeviceNet or Profibus
communication for process cable package.
455-8
Parallel and Ether- Includes CP, customer signals and PROFINET or Ethernet/IP
net
for process cable package
communication
Communication
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3.6 DressPack Floor
3.6 DressPack Floor
Connection to Parallel/CAN DeviceNet/Profibus/Ethernet
Following information specifies the cable length for Parallel/CANDeviceNet/Profibus
for connection to cabinet.
Option
Lengths
Description
94-1/90-2/92-2/859-1 7 m
94-2/90-3/92-3/859-2 15 m
90-4/92-4/859-3
22 m
94-4/90-5/92-5/859-4 30 m
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3 Specification of variants and options
3.7 DressPack Lower and Upper arm
3.7 DressPack Lower and Upper arm
DressPack process configuration
Note
For more information about the process cable packages, see 1.2 DressPack.
Option
Description
Note
778-1
Material Handling
Includes signals and one air hose.
778-2
Spot Welding
Includes signals, weld power cable, one air hose and
three media hoses.
Option
Description
Note
798-2
Routing from base to
axis 2
798-3
Routing from base to
axis 3
DressPack lower arm
DressPack upper arm
Option
Description
Note
780-2
External routing from
axis 2 to axis 6
Requires option 798-2.
780-3
External routing from
axis 3 to axis 6
Requires option 778-1 and 798-3.
780-4
Internal routing from
axis 3 to axis 6
Requires option 798-3.
Note
If option 780-4, LeanID, is selected the payload will decrease, for detailed
information see Load diagrams.
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3 Specification of variants and options
3.8 Connection Kits
3.8 Connection Kits
General
The connectors fit to the connectors at the manipulator base, axis 2/3 and 6
respectively.
Content
The kit consists of connectors, pins and sockets. For technical description, see
Connection kits on page 147.
Option
Type
Description
459-1
R1.CP/CS and PROC1
For the Customer Power/Customer Signal connector
and one Process connector on the manipulator base.
Sockets for bus communication are included.
453-1
R3.FB7
For the 7-axis connector on the manipulator base.
458-1
R2.CP/CS and PROC1
For the Customer Power/Customer Signal connector
and one Process connector at axis 2/3. Pins for bus
communication are included.
452-1
WELD and PROC1-4 axis 6 Weld connector and four Process connectors at axis
6, the manipulator side.
543-1
CP/CS/BUS, PROC1 axis 6 Connector for customer power/customer signal/customer bus at axis 6 tool side.
164
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3 Specification of variants and options
3.9 Servo Gun
3.9 Servo Gun
Content
For technical description see Servo gun on page 56.
Option
Lengths
785-1
For robot handled Servo Gun.
785-5
For Stationary Servo Gun.
Connection to first drive
Following information specifies the cable length for Connection to first drive. For
further information see Servo gun on page 56.
Option
Lengths
786-1
7m
786-2
15 m
786-3
22 m
786-4
30 m
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3 Specification of variants and options
3.10 SpotPack Floor Cables
3.10 SpotPack Floor Cables
Weld Power Cable
Following information specifies the cable length for the Weld Power cable, from
the Spot Welding process cabinet to the manipulator base.
Option
Lengths
791-1
7m
791-2
15 m
Description
Process Cable to Stationary Gun
Following information specifies the cable length for the Process Cable to the
Stationary Gun, from the Spot Welding process cabinet to the Stationary Gun.
Option
Lengths
809-1
7m
809-2
15 m
Cable to Split Box
Following information specifies the cable length for the cable to Split Box, from
the Spot Welding process cabinet to the Split box on the manipulator base.
Option
Lengths
797-1
7m
797-2
15 m
797-3
22 m
797-4
30 m
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3 Specification of variants and options
3.11 Process Cabinet
3.11 Process Cabinet
Empty Cabinet
Option
Type
Description
768-1
Empty cabinet small
See Product specification - Controller
IRC5 with FlexPendant, chapter 2.2.1
768-2
Empty cabinet large
See Product specification - Controller
IRC5 with FlexPendant, chapter 2.2.1
715-1
Installation kit
See Product specification - Controller
IRC5 with FlexPendant, chapter 2.2.1
Option
Type
Description
768-3
Spot Welding small
Spot Welding cabinet on page 131
NOT TOGETHER WITH: Room temperature Max 52 C [708-2]
788-1
Forced air cooling
Spot Welding cabinet on page 131
789-1
Earth fault protection unit
Spot Welding cabinet on page 131
790-1
Contactor for weld power
Spot Welding cabinet on page 131
Option
Type
Description
782-1
Bosch Basic AC S/SE
Spot Welding cabinet on page 131
782-7
Bosch Basic MFDC S/SE
Spot Welding cabinet on page 131
782-11
Bosch MFDC Profinet
Spot Welding cabinet on page 131
Option
Type
Description
858-1
Bosch Adaptive control
Offers additional functionality for adaptive welding regulation. Only together
with option 782-13.
Option
Type
Description
828-1
Region A
Spot Welding cabinet on page 131
828-2
Region E
Spot Welding cabinet on page 131
Process Cabinet
Weld Timer capacity
Adaptive control
Weld cabinet prepared for
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3 Specification of variants and options
3.12 Water and Air
3.12 Water and Air
Water and Air unit
Option
Type
Description
792-1
Type S
Water and Air unit on page 139
792-2
Type HS
Water and Air unit on page 139
Option
Type
Description
793-1
Second water return
Water and Air unit on page 139
Second water return
Electrical proportional valve for air
Option
Type
Description
796-1
Electrical proportional valve for air
Water and Air unit on page 139
168
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4 Accessories
4.1 Introduction to accessories
4 Accessories
4.1 Introduction to accessories
General
There is a range of tools and equipment available, especially designed for the
manipulator.
Basic software and software options for robot and PC
For more information, see Product specification - Controller IRC5 with FlexPendant
and Product specification - Controller software IRC5.
Robot peripherals
•
Track Motion
•
Motor Units
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Index
Index
P
A
S
accessories, 169
C
Calibration Pendulum, 24
category 0 stop, 54
category 1 stop, 54
D
DressPack warranty, 155
E
Electronic Position Switches, 158
EPS, 158
F
fine calibration, 24
O
options, 153
product standards, 15
safety standards, 15
standards, 15
ANSI, 16
CAN, 16
EN, 15
EN IEC, 15
EN ISO, 15
standard warranty, 154
stock warranty, 154
stopping distances, 54
stopping times, 54
V
variants, 153
W
warranty, 154
warranty for DressPack, 155
Product specification - IRB 6650S
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© Copyright 2004-2017 ABB. All rights reserved.
ABB AB, Robotics
Robotics and Motion
S-721 68 VÄSTERÅS, Sweden
Telephone +46 (0) 21 344 400
ABB AS, Robotics
Robotics and Motion
Nordlysvegen 7, N-4340 BRYNE, Norway
Box 265, N-4349 BRYNE, Norway
Telephone: +47 22 87 2000
ABB Engineering (Shanghai) Ltd.
Robotics and Motion
No. 4528 Kangxin Highway
PuDong District
SHANGHAI 201319, China
Telephone: +86 21 6105 6666
ABB Inc.
Robotics and Motion
1250 Brown Road
Auburn Hills, MI 48326
USA
Telephone: +1 248 391 9000
www.abb.com/robotics
3HAC030822-001, Rev T, en
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