Product Specification

Product Specification
Product Specification
IRB 340
3HAC 9216-1 / Rev 1
M2000
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© ABB Robotics AB
Article number: 3HAC 9216-1/Rev 1
Issue: M2000
ABB Robotics AB
S-721 68 Västerås
Sweden
Product Specification IRB 340
CONTENTS
Page
1 Description ....................................................................................................................... 3
1.1 Structure.................................................................................................................. 3
Different robot version........................................................................................... 4
1.2 Safety/Standards ..................................................................................................... 7
1.3 Installation .............................................................................................................. 8
Operating requirements.......................................................................................... 8
Mounting the manipulator...................................................................................... 9
Load diagrams........................................................................................................ 10
Maximum Pressure Force ...................................................................................... 15
Extra equipment mounted on the manipulator arms .............................................. 15
1.4 Maintenance and Troubleshooting ......................................................................... 16
1.5 Robot Motion.......................................................................................................... 17
Performance according to ISO 9283...................................................................... 19
Velocity .................................................................................................................. 19
Acceleration ........................................................................................................... 19
Typical cycle times................................................................................................. 19
2 Specification of Variants and Options........................................................................... 21
3 Accessories ....................................................................................................................... 23
4 Index ................................................................................................................................. 25
Product Specification IRB 340 M2000
1
Product Specification IRB 340
2
Product Specification IRB 340 M2000
Description
1 Description
1.1 Structure
The IRB 340 family consists of a 4-axes industrial robot in a modular design. It is
specially designed for industries with a great need of flexible automation, such as pick
and place operations and assembly.
The IRB 340 is extremely powerful with an acceleration of up to 15 g’s, and a handling
capacity of up to 1 kg. Thanks to optimized drive-chains and ABB’s patented
QuickMoveTM functions it is the fastest robot in its class, up to 150 picks per minute
(defined by cycle and load).
The robot is available in a standard version to be used in dry applications and a
WashDown version designed to be cleaned and disinfected, and therefor useful i wet
applications.
IRB 340 is designed for use together with the S4Cplus controller and robot control
software, BaseWare OS. BaseWare OS supports every aspect of the robot system, such
as motion control, development and execution of application programs,
communication etc. See Product Specification S4Cplus.
Safety standards require a controller to be connected to the robot.
To increase functionality and performance of the robot system, a number of BaseWare
Options might be added. Also available are ProcessWare products, designed for
specific process applications to improve process result as well as simplify installation
and programming. See the Product Specification RobotWare Options.
PickMaster is a specific application software for vision guided picking. It is providing
a task-oriented programming and executions of fast pick and place operations.
See Product Specification PickMaster/PickWare.
Axis 1
Axis 3
Axis 4
Axis 2
TCP
Figure 1 The standard version of the IRB 340 manipulator.
Product Specification IRB 340 M2000
3
Description
Different robot version
The IRB 340 is available in two different versions:
- IRB 340, the 4-axes standard version with x, y, z and θ movements
- IRB 340 SA, the 4-axes WashDown version with x, y, z and θ movements
Weight:
Manipulator
Airborne noise level:
The sound pressure level outside
the working space
4
140 kg
< 70 dB (A) Leq (acc. to
Machinery directive 89/392 EEC)
Product Specification IRB 340 M2000
Description
330
Axis 3
Axis 1
860
Axis 2
Axis 4
250
Axis 3
R=566
Axis 1
Axis 2
Figure 2 Views of the manipulator in the standard version (dimensions in mm).
Product Specification IRB 340 M2000
5
Description
290
Axis 3
Axis 1
860
Axis 4
WashDown version
Axis 2
250
Axis 3
R=566
Axis 1
Axis 2
Figure 3 Views of the manipulator in the WashDown version (dimensions in mm).
6
Product Specification IRB 340 M2000
Description
1.2 Safety/Standards
The robot conforms to the following standards:
EN 292-1
Safety of machinery, terminology
EN 292-2
Safety of machinery, technical specifications
EN 954-1
Safety of machinery, safety related parts of control
systems
EN 60204
Electrical equipment of industrial machines
IEC 204-1
Electrical equipment of industrial machines
ISO 10218, EN 775
Manipulating industrial robots, safety
ANSI/RIA 15.06/1999
Industrial robots, safety requirements
ISO 9787
Manipulating industrial robots, coordinate systems
and motions
IEC 529
Degrees of protection provided by enclosures
EN 50081-2
EMC, Generic emission
EN 50082-2
EMC, Generic immunity
The robot complies fully with the health and safety standards specified in the EEC’s
Machinery Directives.
The robot is designed with absolute safety in mind. It has a dedicated safety system
based on a two-channel circuit which is monitored continuously. If any component
fails, the electrical power supplied to the motors shuts off and the brakes engage.
Safety category 3
Malfunction of a single component, such as a sticking relay, will be detected at the next
MOTOR OFF/MOTOR ON operation. MOTOR ON is then prevented and the faulty
section is indicated. This complies with category 3 of EN 954-1, Safety of machinery
- safety related parts of control systems - Part 1.
Selecting the operating mode
The robot can be operated either manually or automatically. In manual mode, the robot
can only be operated via the teach pendant, i.e. not by any external equipment.
Reduced speed
In manual mode, the speed is limited to a maximum of 250 mm/s (600 inch/min.).
The speed limitation applies not only to the TCP (Tool Centre Point), but to all parts of
the robot. It is also possible to monitor the speed of equipment mounted on the robot.
Three position enabling device
The enabling device on the teach pendant must be used to move the robot when in manual mode. The enabling device consists of a switch with three positions, meaning that
all robot movements stop when either the enabling device is pushed fully in, or when
it is released completely. This makes the robot safer to operate.
Safe manual movement
The robot is moved using a joystick instead of the operator having to look at the teach
pendant to find the right key.
Over-speed protection
The speed of the robot is monitored by two independent computers.
Product Specification IRB 340 M2000
7
Description
Emergency stop
There is one emergency stop push button on the controller and another on the teach
pendant. Additional emergency stop buttons can be connected to the robot’s safety
chain circuit.
Safeguarded space stop
The robot has a number of electrical inputs which can be used to connect external safety
equipment, such as safety gates and light curtains. This allows the robot’s safety functions to be activated both by peripheral equipment and by the robot itself.
Delayed safeguarded space stop
A delayed stop gives a smooth stop. The robot stops in the same way as at normal
program stop with no deviation from the programmed path. After approx. one second
the power supplied to the motors shuts off.
Restricting the working space
The movement of the manipulator can be restricted by using software limits, defined
by an interval of x, y, z and θ coordinates.
Hold-to-run control
“Hold-to-run” means that you must depress the start button in order to move the robot.
When the key is released the robot will stop. The hold-to-run function makes program
testing safer.
Safety lamp (option)
As an option, the robot can be equipped with a safety lamp. This is activated when the
motors are in the MOTORS ON state.
WashDown Statement
All components have been found to comply with USDA/FDA, Code of Federal
Regulations Title 21 regarding choice of material, material behaviour, and sanitary
operations. (Relevant chapters of CFR are part 100-199). The intended use is incidental
food contact. Any gripper to be used has to be investigated separately.
1.3 Installation
An end effector, max. weight 1 kg including payload, can be mounted on the robot’s
mounting flange. See Load diagrams on page 10. Other equipment, such as a hose, can
be mounted on the upper and lower arm, max weight 300 g/m. See Extra equipment
mounted on the manipulator arms on page 15.
Operating requirements
Protection standards
IEC529
Manipulator IRB 340
Manipulator IRB 340 SA
IP55
IP67
Explosive environments
The robot must not be located or operated in an explosive environment.
8
Product Specification IRB 340 M2000
Description
Ambient temperature
Manipulator during operation
+5oC (41oF) to +52oC (125oF)
Complete robot during transportation and storage -25oC (13oF) to +55oC (131oF)
Note If the robot operates in low temperature or temperature >+35oC, the air flow,
generated by the internal fan, is recommended to be evacuated. Hard environment and
a lot of starts and stops may cause condensation inside the base and requires external
air to keep the base dry.
Air out b a
b
Air in
The standard version requires the short cut hose (a) to be replaced by external hoses (b).
For the WashDown version option 061, plate for external air circulation, replaces the
plate for internal air.
Relative humidity
Complete robot during transportation and storage Max. 95% at constant temperature
Complete robot during operation
Max. 95% at constant temperature
Mounting the manipulator
Maximum force in the fixing points is 1000 N referring to the z-direction in the base
coordinate system.
Robot frame is not included in the delivery.
Required stiffness of frame: Lowest natural frequency of frame with robot > 17 Hz.
The working space
is shown in Figure 12
Axis 3
R 370
o
120
A
A
Axis 2
12
40
M1
6
Area for
calibration tool
)
(3x
A
A
Y
0
0 .033
)
o
A
30
A
25
H8
(+
2
Axis 1
X
Clamping plane
A-A
39
Figure 4 Hole configuration (dimensions in mm).
Product Specification IRB 340 M2000
9
Description
Load diagrams
Note The weight permitted for loads includes grippers etc.
IRB 340 and 340 SA
Load 100 g
0
10 20 30 40 50 60 70
L
(mm)
0
10
20
30
40
50
60
70
80
90
100
110
120
130
140
100%
150
160
170
180
190
200
75%
210
220
230
Z (mm)
Z = See the above diagram and the coordinate system in Product Specification S4Cplus.
L = Distance in X-Y plane from Z-axis to the mass centre of gravity of the load.
Loads with mass centre of gravity outside the 100% performance curve can be used with reduced acceleration,
see 75% performance curves. The performance must be reduced manually by using the RAPID
instruction “AccSet” in the robot program.
Figure 5 Maximum weight permitted for load (100 g) mounting on the mounting flange at different
positions (centre of gravity).
10
Product Specification IRB 340 M2000
Description
Note The weight permitted for loads includes grippers etc.
IRB 340 and 340 SA
Load 300 g
0
10 20 30 40 50
L (mm)
0
10
20
30
40
50
60
70
80
90
100
110
120
100%
130
140
150
160
170
180
75%
190
200
Z (mm)
Z = See the above diagram and the coordinate system in Product Specification S4Cplus.
L = Distance in X-Y plane from Z-axis to the mass centre of gravity of the load.
Loads with mass centre of gravity outside the 100% performance curve can be used with reduced acceleration,
see 75% performance curves. The performance must be reduced manually by using the RAPID
instruction “AccSet” in the robot program.
Figure 6 Maximum weight permitted for load (300 g) mounting on the mounting flange at different
positions (centre of gravity).
Product Specification IRB 340 M2000
11
Description
Note The weight permitted for loads includes grippers etc.
IRB 340 and 340 SA
Load 500 g
0
10 20 30 40 50
0
10
L (mm)
20
30
40
50
60
70
80
90
100
100%
110
120
130
140
75%
150
160
170
180
Z (mm)
Z = See the above diagram and the coordinate system in Product Specification S4Cplus.
L = Distance in X-Y plane from Z-axis to the mass centre of gravity of the load.
Loads with mass centre of gravity outside the 100% performance curve can be used with reduced acceleration,
see 75% performance curves. The performance must be reduced manually by using the RAPID
instruction “AccSet” in the robot program.
Figure 7 Maximum weight permitted for load (500 g) mounting on the mounting flange at different
positions (centre of gravity).
12
Product Specification IRB 340 M2000
Description
Note
The weight permitted for loads includes grippers etc.
IRB 340 and IRB 340 SA
Load 750 g
0
10 20 30
0
L (mm)
10
20
30
40
50
60
70
100%
80
90
100
110
120
75%
130
140
150
Z (mm)
Z = See the above diagram and the coordinate system in Product Specification S4Cplus.
L = Distance in X-Y plane from Z-axis to the mass centre of gravity of the load.
Loads with mass centre of gravity outside the 100% performance curve can be used with reduced acceleration,
see 75% performance curves. The performance must be reduced manually by using the RAPID
instruction “AccSet” in the robot program.
Figure 8 Maximum weight permitted for load (750 g) mounting on the mounting flange at different
positions (centre of gravity).
Product Specification IRB 340 M2000
13
Description
Note
The weight permitted for loads includes grippers etc.
IRB 340 and 340 SA
Load 1000 g
0
10 20 30
0
L (mm)
10
20
30
40
50
60
100%
70
80
90
75%
100
110
120
Z (mm)
Z = See the above diagram and the coordinate system in Product Specification S4Cplus.
L = Distance in X-Y plane from Z-axis to the mass centre of gravity of the load.
Loads with mass centre of gravity outside the 100% performance curve can be used with reduced acceleration,
see 75% performance curves. The performance must be reduced manually by using the RAPID
instruction “AccSet” in the robot program.
Figure 9 Maximum weight permitted for load (1000 g) mounting on the mounting flange at different
positions (centre of gravity).
14
Product Specification IRB 340 M2000
Description
Maximum Pressure Force
Maximum pressure force in X, Y and Z-direction is allowed to be 100 N.
Maximum torque of axis 4 = 1Nm.
Extra equipment mounted on the manipulator arms
300
100
50
40
30
0
Limitation lines
for centre of gravity
for M2
20
40
20
50
0
Limitation lines
for centre of gravity
for M1
Figure 10 Definition of extra load on robot arms (measures in mm).
The robot is tuned for the vacuum system (option 043) or medium hose
(option 045). If one of these options is used no extra load should be defined.
If neither the vacuum system nor the medium hose is chosen:
- and both M1 and M2 are less than 175 g each, the robot can run with full
performance and no extra load should be defined
- and M1 is more than 175 g, an extra load should be defined in the load
definition. The extra load should be M1−175 g.
Maximum extra load allowed is 175 g (M1 max = 350 g)
- and M2 is more than 175 g, an extra load should be defined in the load
definition. The extra load should be M2−175 g.
Maximum extra load allowed is 175 g (M2 max = 350 g)
The extra load should be defined in TCP 0.
Product Specification IRB 340 M2000
15
Description
2xR1/4” (vacuum and media connection)
Ø52
Ø25
Key grip 22 h7 h=6
Mounting flange R3/8”, depth 14
Figure 11 The mechanical interface (mounting flange), dimensions in mm.
1.4 Maintenance and Troubleshooting
The robot requires only a minimum of maintenance during operation. It has been
designed to make it as easy to service as possible:
- Maintenance-free AC motors are used.
- Oil is used for the gear boxes.
- All cabling is fixed, no movemets.
In the unlikely event of a failure, its modular design makes it easy to change.
The maintenance intervals depends on the use of the robot. For detailed information on
maintenance procedures, see the Maintenance section in the Product Manual.
16
Product Specification IRB 340 M2000
Description
1.5 Robot Motion
The extreme positions of robot arm
is shown in Figure 13
Z
860
250
Maximum working space inside cylinder.
Working space can be reduced in x-y-z coordinates
Base coordinate system
Marked area =
an example of restricted working space
Axis 3
R
X
6
56
Axis 1
Y
Axis 2
The numbers of the axes are marked
at the bottom of the clamping surface respectively
Figure 12 Working space of IRB 340 (dimensions in mm).
Product Specification IRB 340 M2000
17
Description
Extreme values of arm angles:
P2
Position P1
U = 100o
V = 95,5o
W = 134,5o
0
Position P2
U = -46,1o
V = -50,6o
W = 43,9o
+
U
Angles defined according to figure
V
W
Mechanical stop:
When angle V= -57o mechanical
stop is reached.
P1
Figure 13 The extreme positions of robot arms.
18
Product Specification IRB 340 M2000
Description
Performance according to ISO 9283
At rated load and 1 m/s velocity on the inclined ISO test plane with all 4 robot axes in
motion.
Undirectional pose repeatability:
RP = 0.1 mm, 0.4o standard
RP = 0.1 mm, 1.5o WashDown
Absolute accuracy:
±0.2 mm, ±0.2o standard
±0.2 mm, ±0.75o WashDown
Linear path accuracy:
AT = 0.5 - 3 mm
Linear path repeatability:
RT = 0.5 - 1 mm
The above values are the range of average test-results from a number of robots. If
guaranteed values are required, please contact your nearest ABB Flexible Automation
Centre.
Velocity
Direction x, y, z
θ
10 m/s
3600 o/s
There is a supervision to prevent overheating in applications with intensive and
frequent movements.
Acceleration
100 m/s2
1200 rad/s2
x, y, z
θ
Typical cycle times
Approx.cycle times
R12,5
25
305
0,1 kg
1,0 kg
0,35 s
0,4 s
0,5 s
0,6 s
R30
60
600
Cycle time data can be changed without notice.
Product Specification IRB 340 M2000
19
Description
20
Product Specification IRB 340 M2000
Specification of Variants and Options
2 Specification of Variants and Options
The different variants and options for the IRB 340 are described below.
The same numbers are used here as in the Specification form.
For software options, see Product Specification S4Cplus and Product Specification
RobotWare Options.
1 MANIPULATOR
022 IRB 340
024 IRB 340 SA
APPLICATION INTERFACE
Media outlet
041 Signals and Power
The customer signal and power are connected directly to the robot base to one
FCI 12-pin UT001412SHT (R2.CP) and one FCI 23-pin UT001823SHT (R2.CS)
connector. The cable between manipulator and controller is included.
The signal and power are connected to one 12-pole screw terminal in the controller.
042 Vacuum System
An integrated vacuum system for picking of
products with suction-cups.
The system includes ejector, valves, filter
and hose (D=15/10) to tool point.
The system has three signals: grip, drop
and vacuum level guard.
Connection of
signals and power
The vacuum
system
The ejector is of venturi principle and needs:
air supply: 4-6 bar,
air consumption: 270-380 l/min,
vacuum level: max −0.9 bar,
ejector capacity: 39 l/min −0.7 bar
180 l/min −0.3 bar
The signal cable between the manipulator and the controller is included. The cable is
connected to one 12-pole screw terminal in the controller.
Note Only one of 041 and 042 can be selected.
Hose to tool point
Not available together with option 042 (hose included)
045 Medium hose, D = 15/10 mm
046 Large hose, D = 20/27 mm
Connection to cabinet (Cable lengths)
675
676
677
678
7m
15m
22m
30m
Product Specification IRB 340 M2000
21
Specification of Variants and Options
EQUIPMENT
691 Safety lamp
A safety lamp with an orange fixed light can be mounted on the manipulator.
The lamp is active in MOTORS ON mode.
061 In/outlet for external air (only needed for WashDown version)
Plate for connecting external air into the base of the manipulator (inlet and outlet,
diameter 76 mm) for internal air circulation. Recommended for warm or cold
environments, and at the risk of getting condensation inside.
22
Product Specification IRB 340 M2000
Accessories
3 Accessories
There is a range of tools and equipment available, specially designed for the robot.
Basic software and software options for robot and PC
For more information, see Product Specification S4Cplus, and Product Specification
RobotWare Options.
PickMaster and Vision system
For more information, see PickMaster Product Specification and PickMaster User’s
Guide.
Product Specification IRB 340 M2000
23
Accessories
24
Product Specification IRB 340 M2000
Index
4 Index
P
A
payload 8
performance 19
PickMaster 23
protection standards 8
accessories 23
C
cooling device 4
cycle times 19
E
emergency stop 8
enabling device 7
extra equipment 15
R
reduced speed 7
repeatability 19
S
I
safeguarded space stop 8
delayed 8
safety 7
safety lamp 8, 22
service 16
space requirements 4
standards 7
structure 3
installation 8
T
L
TCP 3
temperature 9
troubleshooting 16
H
hold-to-run control 8
humidity 9
load 8
load diagrams 10
V
M
maintenance 16
maximum pressure force 15
motion 17
mounting
extra equipment 15
robot 9
N
Vacuum System 15, 21
variants 21
Vision system 23
W
WashDown Statement 8
weight 4
working space 17
restricting 8
noise level 4
O
operating requirements 8
options 21
overspeed protection 7
Product Specification IRB 340 M2000
25
Index
26
Product Specification IRB 340 M2000
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