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Product specification
Articulated robot
IRB 4400/45
IRB 4400/60
IRB 4400/L30
IRB 4400/L10
IRB 4450/S
M2004
Product specification
Articulated robot
3HAC9117-1
Rev.N
IRB 4400/45
IRB 4400/60
IRB 4400/L30
IRB 4400/L10
IRB 4450/S
M2004
The information in this manual is subject to change without notice and should not be construed
as a commitment by ABB. ABB assumes no responsibility for any errors that may appear in
this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be construed
as any kind of guarantee or warranty by ABB for losses, damages to persons or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from use of
this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB's written permission, and contents thereof must not be imparted to a third party nor be used for any unauthorized purpose. Contravention will be prosecuted.
Additional copies of this manual may be obtained from ABB at its then current charge.
©Copyright 2004 ABB All right reserved.
ABB AB
Robotics Products
SE-721 68 Västerås
Sweden
Table of Contents
Overview
5
1 Description
7
1.1 Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
1.1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
1.1.2 Different robot versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
1.1.3 Definition of version designation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
1.2 Safety/Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1.2.1 Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16
1.2.2 Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17
1.3 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19
1.3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19
1.3.2 Operating requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20
1.3.3 Mounting the manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21
1.4 Calibration and References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
1.4.1 Fine calibration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25
1.4.2 Absolute Accuracy calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26
1.5 Load diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
1.5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28
1.5.2 Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29
1.5.3 Maximum load and moment of inertia for full axis 5 movement . . . . . . . . . . . . . . . . . . . . . .33
1.5.4 Wrist torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34
1.6 Mounting equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35
1.6.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35
1.6.2 Robot tool flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .38
1.7 Maintenance and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
1.7.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .39
1.8 Robot Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
1.8.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .40
1.8.2 Performance according to ISO 9283 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .48
1.8.3 Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .49
1.8.4 Stopping distance/time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50
1.8.5 Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .51
2 Specification of Variants and Options
53
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
2.1.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .53
2.1.2 Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .53
2.1.3 Floor cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .60
2.1.4 Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .60
3 Accessories
3HAC9117-1
61
Rev.N
3
Table of Contents
4
Rev.N
3HAC9117-1
Overview
Overview
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
Users
It is intended for:
•
Product managers and Product personnel
•
Sales and Marketing personnel
•
Order and Customer Service personnel
Contents
Please see Table of Contents on page 3.
Revisions
3HAC9117-1
Revision
Description
Revision 8
- New values for Performance Acc. to ISO 9283 added
- M2000 cancelled.
Revision J
- Foundry Prime added
- Option 287-5 Wash removed
Revision K
- Text added to “Clean room robots”
- Footnote added to “Pose accuracy”
Revision L
- Changes in chapter Standards
- Directions of forces
- Warranty information for load diagrams
Revision M
- Maximum load and moment of inertia for full axis 5 movement
- Wrist torque
Revision N
- Changes for Calibration data
- Work range
- Explanation of ISO values (new figure and table)
- Stopping distance
- User documentation on DVD
Rev.N
5
Overview
Complementary Product specifications
6
Product
specification
Description
Controller
IRC5 with FlexPendant, 3HAC021785-001
Controller Software
IRC5
RobotWare 5.11, 3HAC022349-001
Robot User Documentation
IRC5 and M2004, 3HAC024534-001
Rev.N
3HAC9117-1
1 Description
1.1.1 Introduction
1 Description
1.1 Structure
1.1.1 Introduction
General
The IRB 4400 is a 6-axis industrial robot, designed specifically for manufacturing
industries that use flexible robot-based automation. The robot has built-in process
ware, an open structure that is specially adapted for flexible use, and can
communicate extensively with external systems.
Different versions
The IRB 4400 comes in several different versions, with handling capacities of
up to 60 kg, a maximum reach of 2.5 m, floor or shelf-mounted manipulators as well
as manipulators for harsh environments.
Foundry robots
The robot version Foundry is suitable for operating in harsh environments and has
special surface treatment and paint for excellent corrosion protection. The connectors
are designed for severe environments, and bearings, gears and other sensitive parts
are highly protected. The robots have the FoundryPlus protection which means that
the whole manipulator is IP67 classified and steam washable.
Foundry Prime
The robot version Foundry Prime is designed for water jet cleaning of casts and
machined parts, and similar very harsh environments.
The manipulator can withstand surrounding solvent based detergent (max. pH 9.0
and must contain rust inhibitor). The detergent must be approved by ABB. In addition, the manipulator can withstand indirect spray from jet pressure (max. 600 bar)
and 100% humidity. The manipulator can work in an environment with a cleaning
bath temperature < 60o C, typically used in a water jet cleaning application with
moderate speed.
The robot is protected by special sealings for gears and bearings, pressurized motors
and electronic compartment, special detergent resistant polyurethane painting system
in three layers. Non painted surfaces has a special rust preventive coating, and motors
are sealed with a sealing compound.
As the robot is designed for very harsh environments, an extended service and maintenance program is required. For detailed information of the maintenance program,
see chapter Maintenance in the Product Manual.
The protection, Foundry Prime is only available for robot version IRB 4400/60.
See chapter Specification of Variants and Options for options not selectable together
with Foundry Prime.
3HAC9117-1
Rev.N
7
1 Description
1.1.1 Introduction
Clean Room robots
The Clean Room robots are classified for clean room class 100 according to US
Federal Standard 209 or class 5 according to ISO 14644-1.
The performed clean room test has classify the air cleanliness exclusively in terms of
concentration of airborne particles generated by the robot. Other aspects of the clean
room test or other clean room requirements are not considered.
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 standards require a controller to be connected to the robot.
For additional functionality, the robot can be equipped with optional software for
application support - for example gluing and arc welding, communication features network communication - and advanced functions such as multitasking, sensor
control etc. For a complete description on optional software, see the Product
specification - Controller software IRC5/RobotWare.
Figure 1 The IRB 4400 manipulator has 6 axes.
8
Rev.N
3HAC9117-1
1 Description
1.1.2 Different robot versions
1.1.2 Different robot versions
General
The IRB 4400 is available in five different versions.
Robot type
Handling capacity (kg)
Reach (m)
IRB 4400/45
45 kg
1.96 m
IRB 4400/60
60 kg
1.96 m
IRB 4400/L30
30 kg
2.43 m
IRB 4400/L10
10 kg
2.55 m
IRB 4450S
30 kg
2.40 m
1.1.3 Definition of version designation
IRB 4400 Version Handling capacity:
Prefix
description
Robot
type
Description
Version
L
S
Long arm
Shelf mounted manipulator
Handling capacity
Indicates the maximum handling capacity (kg)
Manipulator weight
Robot type
Weight
IRB 4400/45
985 kg
IRB 4400/60
1040 kg
IRB 4400/L10
1040 kg
IRB 4400/L30
1060 kg
IRB 4450/S
1040 kg
Data
Description
Other technical data
Note
Airborne noise level The sound pressure level out- < 70 dB (A) Leq (acc. to Machinery
side the working space
directive 89/392 EEC)
3HAC9117-1
Rev.N
9
1 Description
1.1.3 Definition of version designation
Power consumption
Path E1-E2-E3-E4 in the ISO Cube, maximum load.
IRB 4400/45 (Cube side = 630 mm)
Speed [mm/s]
Power consumption [kW]
Max.
1.36
1000
0.95
500
0.74
100
0.62
IRB 4400/60 (Cube side = 630 mm)
Speed [mm/s]
Power consumption [kW]
Max.
1.33
1000
0.99
500
0.78
100
0.66
Figure 2 Path E1-E2-E3-E4 in the ISO Cube, maximum load.
10
Rev.N
3HAC9117-1
1 Description
1.1.3 Definition of version designation
IRB 4400/L30 (Cube side = 1000 mm)
Speed [mm/s]
Power consumption [kW]
Max.
1.15
1000
0.86
500
0.73
100
0.64
IRB 4400/L10 (Cube side = 1000 mm)
Speed [mm/s]
Power consumption [kW]
Max.
1.28
1000
0.63
500
0.53
100
0.48
Figure 3 Path E1-E2-E3-E4 in the ISO Cube, maximum load.
IRB 4450/S (Cube side = 1000 mm)
3HAC9117-1
Speed [mm/s]
Power consumption [kW]
Max.
Not yet available
1000
Not yet available
500
Not yet available
100
Not yet available
Rev.N
11
1 Description
1.1.3 Definition of version designation
Dimensions
IRB 4400/45, IRB 4400/60, IRB 4400/L30:
Figure 4 View of the manipulator from the side (dimensions in mm).
12
Pos
Description
A
880 for 4400/45 and /60
B
1380 for 4400/L30
Rev.N
3HAC9117-1
1 Description
1.1.3 Definition of version designation
Figure 5 View of the manipulator from the side (dimensions in mm).
IRB 4400/45, IRB 4400/60 and IRB 4400/L30:
Figure 6 View of the manipulator from above (dimensions in mm).
3HAC9117-1
Rev.N
13
1 Description
1.1.3 Definition of version designation
IRB 4400/L10:
Figure 7 View of the manipulator from the side and above (dimensions in mm).
14
Rev.N
3HAC9117-1
1 Description
1.1.3 Definition of version designation
IRB 4450/S:
Figure 8 View of the manipulator from the side, behind and above (dimensions in mm).
3HAC9117-1
Rev.N
15
1 Description
1.2.1 Standards
1.2 Safety/Standards
1.2.1 Standards
The robot conforms to the following standards:
Standard
Description
EN ISO 12100-1
Safety of machinery, terminology
EN ISO 12100-2
Safety of machinery, technical specifications
EN 954-1
Safety of machinery, safety related parts of control systems
EN 60204
Electrical equipment of industrial machines
EN ISO 60204-1:2006
Safety of machinery - Electrical equipment of machines
a
EN ISO 10218-1:2006
Robots for industrial environments - Safety requirements
EN 61000-6-4 (option)
EMC, Generic emission
EN 61000-6-2
EMC, Generic immunity
a. There is a deviation from paragraph 6.2 in that only worst case stop distances and
stop times are documented.
Standard
Description
IEC 60529
Degrees of protection provided by enclosures
Standard
Description
ISO 9787
Manipulating industrial robots, coordinate systems and motions
Standard
Description
ANSI/RIA 15.06/1999
Safety Requirements for Industrial Robots and Robot Systems
ANSI/UL 1740-1998
(option)
Safety Standard for Robots and Robotic Equipment
CAN/CSA Z 434-03
(option)
Industrial Robots and Robot Systems - General Safety Requirements
The robot complies fully with the health and safety standards specified in the EEC’s
Machinery Directives.
16
Rev.N
3HAC9117-1
1 Description
1.2.2 Safety
1.2.2 Safety
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 FlexPendant, that is not by any external
equipment.
Reduced speed
In manual mode, the speed is limited to a maximum of 250 mm/s (600 inch/min.).
The speed limitation applies not only to the TCP (Tool Center Point), but to all parts
of the robot. It is also possible to monitor the speed of equipment mounted on the
robot.
Three position enabling device
The enabling device on the FlexPendant 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
FlexPendant to find the right key.
Over-speed protection
The speed of the robot is monitored by two independent computers.
Emergency stop
There is one emergency stop push button on the controller and another on the
FlexPendant. Additional emergency stop buttons can be connected to the robot’s
safety chain circuit.
3HAC9117-1
Rev.N
17
1 Description
1.2.2 Safety
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 a normal
program stop with no deviation from the programmed path. After approx. 1 second
the power supplied to the motors shuts off.
Collision detection (option)
In case of an unexpected mechanical disturbance like a collision, electrode sticking
etc., the robot will stop and slightly back off from its stop position.
Restricting the working space
The movement of each axis can be restricted using software limits.
Axes 1-2 can also be restricted by means of mechanical stops and axis 3 by an
electrical switch (option).
Hold-to-run control
“Hold-to-run” means that you must depress the start button in order to move the
robot. When the button is released the robot will stop. The hold-to-run function
makes program testing safer.
Fire safety
Both the manipulator and control system comply with UL’s (Underwriters
Laboratories) tough requirements for fire safety.
Safety lamp (option)
The robot can be equipped with a safety lamp mounted on the manipulator. This is
activated when the motors are in the MOTORS ON state.
18
Rev.N
3HAC9117-1
1 Description
1.3.1 Introduction
1.3 Installation
1.3.1 Introduction
General
All the versions of IRB 4400 are designed for floor mounting except one version for
shelf-mounting. Depending on the robot version an end effector of max. weight
10 to 60 kg, including payload, can be mounted on the mounting flange (axis 6). See
section Load diagrams .
Other equipment
Extra loads can be mounted on the upper arm and on the base.
There are holes for mounting extra equipment, see section Mounting equipment ,
Figure 19 and Figure 20.
Working range
The working range of axes 1-2 can be limited by mechanical stops and axis 3 by limit
switches. Electronic Position Switches can be used on all axes for indicating the
position of the manipulator.
3HAC9117-1
Rev.N
19
1 Description
1.3.2 Operating requirements
1.3.2 Operating requirements
Protection standards
Description
Protection standard IEC 60529
Standard and Clean Room Manipulator
IP54
Foundry Manipulator
IP67, steam washable
Clean room standards
Clean room manipulator: US Federal Standard 209, class 100 or ISO 14644-1 class 5.
Explosive environments
The robot must not be located or operated in an explosive environment.
Ambient temperature
Description
Standard/Option
Temperature
Manipulator during operation
Standard
+ 5°C (41°F) to + 45°C (113°F)
For the controller
Standard/Option
See Product specification - Controller IRC5 with FlexPendant
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)
Standard
Relative humidity
20
Description
Relative humidity
Complete robot during transportation and storage
Max. 95% at constant temperature
Complete robot during operation
Max. 95% at constant temperature
Complete robot during operation, option 287-6
Foundry Prime
Max. 100%
Rev.N
3HAC9117-1
1 Description
1.3.3 Mounting the manipulator
1.3.3 Mounting the manipulator
Maximum load in relation to the base coordinate system.
3HAC9117-1
Endurance load in operation
all IRB 4400
Max. load at emergency stop
all IRB 4400
Force xy
± 7500 N
± 9000 N
Force z
+ 9500 ± 2000 N
+ 9500 ± 3000 N
Torque xy
± 14000 Nm
± 16000 Nm
Torque z
± 2000 Nm
± 4000 Nm
Endurance load in operation
all IRB 4450/S
Max. load at emergency stop
all IRB 4450/S
Force xy
± 7500 N
± 10000 N
Force z
+ 9500 ± 2000 N
+ 9500 ± 4000 N
Torque xy
± 14000 Nm
± 16000 Nm
Torque z
± 2000 Nm
± 4000 Nm
Rev.N
21
1 Description
1.3.3 Mounting the manipulator
Figure 9 Direction of forces.
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).
22
Rev.N
3HAC9117-1
1 Description
1.3.3 Mounting the manipulator
Figure 10 Hole configuration (dimensions in mm).
3HAC9117-1
Pos
Description
A
Z = center line axis 1
B
The same dimensions
C
View from the bottom of the base
D
Section
Rev.N
23
1 Description
1.3.3 Mounting the manipulator
Mounting surface and bushings
Figure 11 Mounting surface and bushings.
24
Pos
Description
A
Surface treatment, ISO 2081 Fe/Zn 8 c2
Guide Bushings
B
Common zone
Rev.N
3HAC9117-1
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, please see Operating
manual - Calibration Pendulum.
Figure 12 All axes in zero position.
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
3HAC9117-1
Rev.N
25
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/RobotWare 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.
Absolute accuracy compensates for:
•
Mechanical tolerances in the robot structure
•
Deflection due to load
Absolute accuracy calibration focuses 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 can
typically be 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.
26
Rev.N
3HAC9117-1
1 Description
1.4.2 Absolute Accuracy calibration
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).
Absolute Accuracy is a TCP calibration in order to Reach (m) a good positioning in
the Cartesian coordinate system.
Figure 13 The Cartesian coordinate system.
Production data
Typical production data regarding calibration are:
Positioning accuracy (mm)
Robot
IRB 4400/45, -/60,
-/L30 and -/L10
IRB 4450/S
Average
Max
% Within 1 mm
0.30
0.75
100
a
a
a
a. For detailed data and data missing in the table, please contact ABB for more information.
3HAC9117-1
Rev.N
27
1 Description
1.5.1 Introduction
1.5 Load diagrams
1.5.1 Introduction
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 outside load diagram is used the following parts
can be damaged due to overload:
•
motors
•
gearboxes
•
mechanical structure
Robots running with incorrect load data and/or with loads outside load
diagram will not be covered by the robot warranty.
28
Rev.N
3HAC9117-1
1 Description
1.5.2 Diagrams
1.5.2 Diagrams
IRB 4400/45
Figure 14 Maximum weight permitted for load mounted on the mounting flange at different positions
(center of gravity).
Description
3HAC9117-1
Z
See the above diagram and the coordinate system in the Product specification
- IRC5 with FlexPendant.
L
Distance in X-Y plane from Z-axis to the center of gravity.
J
Maximum own moment of inertia on the total handle weight =
max. 2.5 kgm2.
Rev.N
29
1 Description
1.5.2 Diagrams
IRB 4400/60
Figure 15 Maximum weight permitted for load mounted on the mounting flange at different positions
(center of gravity).
Description
30
Z
See the above diagram and the coordinate system in the Product specification
- IRC5 with FlexPendant.
L
Distance in X-Y plane from Z-axis to the center of gravity.
J
Maximum own moment of inertia on the total handle weight =
max. 2.5 kgm2.
Rev.N
3HAC9117-1
1 Description
1.5.2 Diagrams
IRB 4400/L30 and IRB 4450/S
Figure 16 Maximum weight permitted for load mounted on the mounting flange at different positions
(center of gravity).
Description
3HAC9117-1
Z
See the above diagram and the coordinate system in the Product specification
- IRC5 with FlexPendant.
L
Distance in X-Y plane from Z-axis to the center of gravity.
J
Maximum own moment of inertia on the total handle weight =
max. 1.3 kgm2.
Rev.N
31
1 Description
1.5.2 Diagrams
IRB 4400/L10
Figure 17 Maximum weight permitted for load mounted on the mounting flange at different positions
(center of gravity).
Description
32
Z
See the above diagram and the coordinate system in the Product specification
- IRC5 with FlexPendant.
L
Distance in X-Y plane from Z-axis to the center of gravity.
J
Maximum own moment of inertia on the total handle weight =
max. ≤ 0.040 kgm2.
Rev.N
3HAC9117-1
1 Description
1.5.3 Maximum load and moment of inertia for full axis 5 movement
1.5.3 Maximum load and moment of inertia for full axis 5 movement
General
Total load given as: Mass in kg, center of gravity (Z and L) in meter and moment of
inertia (Jox, Joy, Joz ) in kgm2 . L= √(X2 + Y2), see Figure 18.
Full movement of Axis 5 (±120º)
5
Axis Robot Type
Max. value
5
IRB 4400/L10
J5 = Mass x ((Z + 0.085)2 + L2) + max (J0x, J0y) ≤ 1.15 kgm2
6
IRB 4400/L10
J6= Mass x L2 + J0Z ≤ 0.70 kgm2
Axis Robot Type
Max. value
5
IRB 4400/L30,
IRB 4450S
J5 = Mass x ((Z + 0.14)2 + L2) + max (J0x, J0y) ≤ 22.0 kgm2
6
IRB 4400/L30,
IRB 4450S
J6= Mass x L2 + J0Z ≤ 12.0 kgm2
Axis Robot Type
Max. value
5
IRB 4400/45
J5 = Mass x ((Z + 0.14)2 + L2) + max (J0x, J0y) ≤ 25.0 kgm2
6
IRB 4400/45
J6= Mass x L2 + J0Z ≤ 16.5 kgm2
Axis Robot Type
Max. value
5
IRB 4400/60
J5 = Mass x ((Z + 0.14)2 + L2) + max (J0x, J0y) ≤ 30.0 kgm2
6
IRB 4400/60
J6= Mass x L2 + J0Z ≤ 17.5 kgm2
Figure 18 Moment of inertia when full movement of axis 5.
Pos
Description
A
Center of gravity
Description
Jox, Joy, Joz
3HAC9117-1
Max. moment of inertia around the X, Y and Z axes at center of gravity.
Rev.N
33
1 Description
1.5.4 Wrist torque
1.5.4 Wrist torque
The table below shows the maximum permissible torque due to payload.
.
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 contact your
local ABB organization.
Robot type
34
Max wrist torque Max wrist torque Max torque valid
axis 4 and 5
axis 6
at load
IRB 4400/L10
20.6 Nm
9.81 Nm
10 kg
RB 4400/L30, IRB 4450S
155.0 Nm
63.3 Nm
30 kg
IRB 4400/45
190.0 Nm
75.0 Nm
45 kg
IRB 4400/60
242.0 Nm
98.9 Nm
60 kg
Rev.N
3HAC9117-1
1 Description
1.6.1 Introduction
1.6 Mounting equipment
1.6.1 Introduction
IRB 4400/45, IRB 4400/60, IRB 4400/L30 and IRB 4450/S
A
250
A
175
(B)
(A)
150
300
B
D
38.5 77
25
50
300
D
390
150
20o
Max. 15 kg
B-B
340
144
115
B
54
15
(C)
29.5
29.5
200
110
106
(D)
A-A
D-D
(E)
(F)
195
C
D=100
(G)
o
120 (3x)
o
15
C
C-C
Figure 19 The shaded area indicates the permitted positions (center of gravity) for any extra equipment
mounted in the holes (dimensions in mm).
3HAC9117-1
Pos
Description
A
M8 (2x) Used if option 218-6 is chosen, Depth of thread 9
B
M8 (3x) Depth of thread 14
Rev.N
35
1 Description
1.6.1 Introduction
36
Pos
Description
C
571 for 4400/45, /60 and 4450S
1071 for 4400L/30
D
M6 (2x) tapped depth 12
E
Max. 5 kg for 4400/45 and /60 at max. handling weight
5 kg for 4400L/30 and 4450S if handling weight is max. 25 kg,
0 kg if handling weight is 30 kg
F
M8 (3x), R = 92, Depth 16 (If option 34-1 is chosen these holes are occupied.)
G
Max. 35 kg
Rev.N
3HAC9117-1
1 Description
1.6.1 Introduction
IRB 4400/L10
A
250
A
300
150
175
(B)
B
390
38.5 77
(A)
25
20o
B-B
150
Max. 15 kg
115
110
B
54
1221
M5 (2x)
300
D=240 22
110
78
A-A
43
Max. 2 kg
(C)
195
C
D=100
Max. 35 kg
o
120 (3x)
15o
C
C-C
Figure 20 The shaded area indicates the permitted positions (center of gravity) for any extra equipment
mounted in the holes (dimensions in mm).
3HAC9117-1
Pos
Description
A
M6 (2x) Depth of thread 9
B
M8 (3x) Depth of thread 14
E
M8 (3x), R=92 Depth 16
(If option 34-1 is chosen these holes are occupied.)
Rev.N
37
1 Description
1.6.2 Robot tool flange
1.6.2 Robot tool flange
IRB 4400/45, IRB 4400/60, IRB 4400/L30 and IRB 4450/S
Figure 21 The mechanical interface, mounting flange (dimensions in mm).
IRB 4400/L10
Figure 22 The mechanical interface, mounting flange (dimensions in mm).
38
Rev.N
3HAC9117-1
1 Description
1.7.1 Introduction
1.7 Maintenance and Troubleshooting
1.7.1 Introduction
General
The robot requires only a minimum of maintenance during operation. It has been
designed to make it as easy to service as possible:
•
Maintenance-free AC motors are used
•
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 depend on selected options. For detailed information on maintenance
procedures, see Maintenance section in the Product Manual.
3HAC9117-1
Rev.N
39
1 Description
1.8.1 Introduction
1.8 Robot Motion
1.8.1 Introduction
IRB 4400/45 and IRB 4400/60
Type of motion
Range of movement
Axis 1 Rotation motion
+ 165° to - 165°
Axis 2 Arm motion
+ 95° to - 70°
Axis 3 Arm motion
+ 65° to - 60°
Axis 4 Wrist motion
+ 200° to - 200°
Axis 5 Bend motion
+ 120° to - 120°
Axis 6 Turn motion
+ 400° to - 400°
+200 rev.a to -200 rev. Max.b
a. rev. = Revolutions
b. 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).
40
Rev.N
3HAC9117-1
1 Description
1.8.1 Introduction
Figure 23 The extreme positions of the robot arm IRB 4400/45 and /60 (dimensions in mm).
Positions (mm) and Angles (degrees) for IRB 4400/45 and IRB 4400/60:
3HAC9117-1
Position No.
(see Figure 23)
Position
(mm) X
Position
(mm) Z
Angle
(degrees)
Axis 2
Angle
(degrees)
Axis 3
0
1080
1720
0
0
1
887
2140
0
-30
2
708
836
0
65
3
1894
221
95
-60
4
570
-126
95
40
5
51
1554
-70
40
6
227
1210
-70
65
Rev.N
41
1 Description
1.8.1 Introduction
IRB 4400/L30
Type of motion
Range of movement
Axis 1 Rotation motion
+ 165° to - 165°
Axis 2 Arm motion
+ 95° to - 70°
Axis 3 Arm motion
+ 65° to - 60°
Axis 4 Wrist motion
+ 200° to - 200°
Axis 5 Bend motion
+ 120° to - 120°
Axis 6 Turn motion
+ 400° to - 400°
+200 rev.a to -200 rev. Max.b
a. rev. = Revolutions
b. 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).
42
Rev.N
3HAC9117-1
1 Description
1.8.1 Introduction
Figure 24 The extreme positions of the robot arm IRB 4400/L30 (dimensions in mm).
Positions (mm) and Angles (degrees) for IRB 4400/L30:
3HAC9117-1
Position No.
(see Figure 24)
Position
(mm) X
Position
(mm) Z
Angle
(degrees)
Axis 2
Angle
(degrees)
Axis 3
0
1580
1720
0
0
1
1320
2390
0
-30
2
919
383
0
65
3
2303
-66
95
-60
4
180
-448
95
42
5
484
1804
-70
40
6
725
1254
-70
65
Rev.N
43
1 Description
1.8.1 Introduction
IRB 4400/L10
Type of motion
Range of movement
Axis 1 Rotation motion
+ 165° to - 165°
Axis 2 Arm motion
+ 95° to - 70°
Axis 3 Arm motion
+ 65° to - 60°
Axis 4 Wrist motion
+ 200° to - 200°
Axis 5 Bend motion
+ 120° to - 120°
Axis 6 Turn motion
+ 400° to - 400°
+183 rev.a to -183 rev. Max.b
a. rev. = Revolutions
b. 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).
44
Rev.N
3HAC9117-1
1 Description
1.8.1 Introduction
Figure 25 The extreme positions of the robot arm IRB 4400/L10 (dimensions in mm).
Positions (mm) and Angles (degrees) for IRB 4400/L10:
3HAC9117-1
Position No.
(see Figure 25)
Position
(mm) X
Position
(mm) Z
Angle
(degrees)
Axis 2
Angle
(degrees)
Axis 3
0
1700
1720
0
0
1
1424
2450
0
-30
2
970
274
0
65
3
2401
-135
95
-60
4
500
-786
95
24
5
588
1864
-70
40
6
845
1265
-70
65
Rev.N
45
1 Description
1.8.1 Introduction
IRB 4450/S
Type of motion
Range of movement
Axis 1 Rotation motion
+ 165° to - 165°
Axis 2 Arm motion
+ 95° to - 70°
Axis 3 Arm motion
+ 65° to - 60°
Axis 4 Wrist motion
+ 200° to - 200°
Axis 5 Bend motion
+ 120° to - 120°
Axis 6 Turn motion
+ 400° to - 400°
+200 rev.a to -200 rev. Max.b
a. rev. = Revolutions
b. 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).
46
Rev.N
3HAC9117-1
1 Description
1.8.1 Introduction
Figure 26 The extreme positions of the robot arm IRB 4450/S (dimensions in mm).
Positions (mm) and Angles (degrees) for IRB 4450/S:
3HAC9117-1
Position No.
(see Figure 26)
Position
(mm) X
Position
(mm) Z
Angle
(degrees)
Axis 2
Angle
(degrees)
Axis 3
0
2006
556
0
0
1
2190
978
0
-30
2
1437
-1054
95
-60
3
294
-303
95
40
4
1101
239
0
65
5
1058
847
-70
65
6
1195
1208
-70
40
Rev.N
47
1 Description
1.8.2 Performance according to ISO 9283
1.8.2 Performance according to ISO 9283
General
At rated load and 1,6 m/s velocity on the inclined ISO test plane with all six robot
axes in motion.
The figures for AP, RP, AT and RT are mesured according to Figure 27.
Figure 27 Explanation of ISO values.
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
Max deviation from E
RP
Tolerance of posiotion B at repeated RT
positioning
AT
Tolerance of the path at repeated
program execution
Description
Values
IRB
4400L/10 4400/30
4400/45
4400/60
4450S
Pose accuracy, APa(mm)
0.04
0.07
0.04
0.12
0.03
Pose repeatability, RP (mm)
0.05
0.07
0.04
0.19
0.03
Pose stabilization time, PSt (s) 0.25
within 0.2 mm of the position
0.20
0.18
0.27
0.31
Path accuracy, AT (mm)
0.57
1.02
0.47
0.56
1.19
Path repeatability, RT(mm)
0.16
0.28
0.13
0.56
0.11
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.
The above values are the range of average test-results from a number of robots.
48
Rev.N
3HAC9117-1
1 Description
1.8.3 Velocity
1.8.3 Velocity
Axis no.
IRB 4400/45/60/L30 and IRB 4450/S
IRB 4400/L10
1
150°/s
150°/s
2
120°/s
150°/s
3
120°/s
150°/s
4
225°/s
370°/s
5
250°/s
330°/s
6
330°/s
381°/s
Supervision is required to prevent overheating in applications with intensive and
frequent movements.
Resolution
Approx. 0.01o on each axis.
3HAC9117-1
Rev.N
49
1 Description
1.8.4 Stopping distance/time
1.8.4 Stopping distance/time
Stopping distance/time for emergency stop (category 0), program stop (category 1)
and at mains power supply failure at max speed, max streched out and max load,
categories according to EN 60204-1. All results are from tests on one moving axis.
All stop distances are valid for floor mounted robot, without any tilting.
Category 0
Category 1
Main power failure
Robot Type
Axis
IRB 4400L/10
A
B
A
B
A
B
1
45
0.6
63
0.8
57
0.7
2
17
0.2
28
0.3
25
0.3
3
13
0.2
27
0.3
26
0.3
Category 0
Category 1
Main power failure
Robot Type
Axis
IRB 4400L/30
A
B
A
B
A
B
1
68
0.9
95
1.2
n.a.
n.a.
2
15
0.3
22
0.4
20
0.3
3
21
0.4
35
0.6
30
0.4
Category 0
Category 1
Main power failure
Robot Type
Axis
IRB 4400/45
A
B
A
B
A
B
1
60
0.9
73
0.9
46
0.9
2
15
0.3
25
0.4
24
0.3
3
13
0.2
22
0.3
22
0.3
Category 0
Category 1
Main power failure
Robot Type
Axis
IRB 4400/60
A
B
A
B
A
B
1
65
0.9
84
1.0
76
0.9
2
16
0.3
24
0.4
22
0.3
3
15
0.3
25
0.4
23
0.3
Category 0
Category 1
Main power failure
Robot Type
Axis
IRB 4450/S
A
B
A
B
A
B
1
n.a.
n.a.
n.a.
n.a.
n.a.
n.a.
2
n.a.
n.a.
n.a.
n.a.
n.a.
n.a.
3
n.a.
n.a.
n.a.
n.a.
n.a.
n.a.
Description
50
A
Distance in degrees
B
Stop time (s)
Rev.N
3HAC9117-1
1 Description
1.8.5 Signals
1.8.5 Signals
Signal connections on robot arm
To connect extra equipment on the manipulator, there are cables integrated into the
manipulator’s cabling, one FCI UT07 14 12SH44N connector and
one FCI UT07 18 23SH44N connector on the rear part of the upper arm.
Hose for compressed air is also integrated into the manipulator. There is an inlet
(R1/4”) at the base and an outlet (R1/4”) on the rear part of the upper arm.
3HAC9117-1
Number
Value
Signals
23
50 V, 250 mA
Power
10
250 V, 2 A
Air
1
Max. 8 bar, inner hose diameter 8 mm
Rev.N
51
1 Description
1.8.5 Signals
52
Rev.N
3HAC9117-1
2 Specification of Variants and Options
2.1.1 General
2 Specification of Variants and Options
2.1 Introduction
2.1.1 General
The different variants and options for the IRB 4400 are described below.
The same numbers are used here as in the Specification form. For controller, see
Product specification - Controller IRC5 with FlexPendant and for software options,
see Product specification - Controller software IRC5/RobotWare.
2.1.2 Manipulator
Variants
Option
IRB Type
Handling capacity (kg) / Reach (m)
435-37
IRB 4000/45
45/1.96
435-38
IRB 4400/60
60/1.96
435-42
IRB 4400/L30
30/2.43
435-41
IRB 4400/L10
10/2.55
435-62
IRB 4450S
30/2.40
Option
Description
209-1
Protection Standard and Foundry have color ABB Orange and protection
Clean Room has color white
209-4--192
The manipulator is painted with the chosen RAL-color.
Manipulator color
3HAC9117-1
Rev.N
53
2 Specification of Variants and Options
2.1.2 Manipulator
Protection
Option
Description
287-4
Standard
287-3
Foundry
Robot adapted for foundry or other harsh environments.
The robot has the FoundryPlus protection which means that the whole manipulator is IP67 classified and steam washable. An excellent corrosion protection is obtained by a special coating. The connectors are designed for severe
environments, and bearings, gears and other sensitive parts are highly protected.
The robot is labeled with “Foundry Plus”.
287-1
Clean Room
Robot with clean room class 100 according to US Federal Standard 209 and
with the same protection as in option 287-4.
Standard color is white. The robot is labeled with “Clean Room”.
287-6
Foundry Primea
Robots adapted for water jet cleaning of casts and machined parts, and similar
very harsh environments. The manipulator can withstand surrounding solvent
based detergent (max. pH 9.0 and must contain rust inhibitor). The detergent
must be approved by ABB. In addition, the manipulator can withstand indirect
spray from jet pressure (max. 600 bar) and 100% humidity. The manipulator
can work in an environment with a cleaning bath temperature < 600 C, typically
used in a water jet cleaning application with moderate speed.
The robot is labeled “Foundry Prime”.
The following options are NOT selectable together with option 287-6:
•
209-2 ABB White standard
•
209 RAL code
•
218-6 At upper arm axis 4
•
426-1 Position switches kit
•
213-1 Safety lamp
•
25-2/-3/-4 Position switches axis 1
•
271-1/-2 Position switch Connection to
•
34-1 Axis 3 work range limit
•
429-1 Underwriters Laboratories
•
438-5 Standard + 24 months
•
438-7 Standard + 30 months
a. Only available for IRB 4400/60
54
Rev.N
3HAC9117-1
2 Specification of Variants and Options
2.1.2 Manipulator
Application interface
Air supply and signals for extra equipment to upper arm:
Option
Description
218-8
Integrated hose and cables for connection of extra equipment on the manipulator to the rear end of the upper arm.
Figure 28 Integrated hose and cables.
Option
Description
218-6
Hose and cables for connection of extra equipment are continuing to the wrist
on the outside of the upper arm.
Not available for options 435-41, 435-42, 435-43, 287-3 and 287-5.
Figure 29 Hose and cables.
3HAC9117-1
Rev.N
55
2 Specification of Variants and Options
2.1.2 Manipulator
Application interface Connection to
Option
a
16-1
Description
Cabinet
The signals are connected to 12-pole screw terminals,
Phoenix MSTB 2.5/12-ST-5.08, to the the controller.
a. Note! In a M2004 MultiMove application additional robots have no Control Module. The screw terminals with internal cabling are then delivered separately to be
mounted in the main robot Control Module or in another encapsulation, for example
a PLC cabinet.
Figure 30 Connection to cabinet.
Pos
Description
A
If 218-6
B
If 16-1
Application equipment cable lengths
If connection to Cabinet:
Option
Lengths
94-1
7m
94-2
15 m
94-3
22 m
94-4
30 m
Option
Description
213-1
Safety lamp
A safety lamp with an orange fixed light can be mounted on the manipulator.
The lamp is active in MOTORS ON mode.
The safety lamp is required on a UL/UR approved robot.
Safety lamp
56
Rev.N
3HAC9117-1
2 Specification of Variants and Options
2.1.2 Manipulator
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, art. No.
3HAC0277709-001.
Connector kit
Detached connectors, suitable to the connectors for the application interface and
position switches.
The kit consists of connectors, pins and sockets.
3HAC9117-1
Option
Description
431-1
For the connectors on the upper arm.
239-1
For the connectors on the foot if connection to manipulator, option 16-2.
426-1
For connection to position switches and connection to manipulator,
option 271-2 and position switch(es).
Rev.N
57
2 Specification of Variants and Options
2.1.2 Manipulator
Working range limit
Figure 31 Mounting area of the stops, axis 1
Option
Description
28-1 Axis 1
Two extra stops for restricting the working range.The stops can be mounted
within the area from 65° to 125°. See Figure 31.
IRB 4400/45 IRB 4400/60 IRB 4400/L30 IRB 4400/L10
Figure 32 Mounting positions of the stops, axis 2.
58
Option
Description
32-1 Axis 2
Stop lugs for restricting the working range. Figure 33 illustrates the mounting
positions of the stops.
Rev.N
3HAC9117-1
2 Specification of Variants and Options
2.1.2 Manipulator
IRB 4450/S
Figure 33 Mounting positions of the stops, axis 2
Option
Description
34-1Axis 3
Equipment for electrically restricting the working range in increments of 5°.
Option
Type
Description
438-1
Standard Warranty
Standard warranty is 18 months (1 1/2 years)
438-2
Standard + 12 months
18 + 12 months (2 1/2 years)
438-4
Standard + 18 months
18 + 18 months (3 years)
438-5
Standard + 24 months
18 + 24 months (3 1/2 years)
438-6
Standard + 6 months
18 + 6 months (2 years)
438-8
Stock Warranty
Maximum 6 months postponed warranty starting
from shipment date ABB Robotics Production
unit (PRU) + Option 438-1. Warranty commences
automatically after 6 months or from activation
date of standard warranty. (See ABB Robotics
BA Warranty Rules).
Warranty
3HAC9117-1
Rev.N
59
2 Specification of Variants and Options
2.1.3 Floor cables
2.1.3 Floor cables
Manipulator cable length
Option
Lengths
210-2
7m
210-3
15 m
210-4
22 m
210-5
30 m
Connection of parallel communication
Option
Lengths
94-1
7m
94-2
15 m
94-3
22 m
94-4
30 m
2.1.4 Documentation
DVD User Documentation
60
Option
Type
Description
808-1
Documentation on DVD
See Product specification Robot User Documentation
Rev.N
3HAC9117-1
3 Accessories
3 Accessories
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/RobotWare.
Robot Peripherals
3HAC9117-1
•
Track Motion
•
Motor Units
Rev.N
61
3 Accessories
62
Rev.N
3HAC9117-1
Index
A
R
accessories, 61
accuracy, 48
air supply, 55
range of movement
working space, 40, 42, 44, 46
reduced speed, 17
repeatability, 48
Robot Peripherals, 61
robot versions, 9
C
connector kit, 57
cooling device, 9
E
S
fire safety, 18
forklift, 50
safeguarded space stop, 18
delayed, 18
safety, 16
safety lamp, 18, 56
service, 39
service position indicator, 57
signal connections, 51, 55
space requirements, 9
stabilization time, 48
standards, 16
structure, 7
H
T
hold-to-run control, 18
humidity, 20
temperature, 20
troubleshooting, 39
I
V
installation, 19
Variants, 53
variants, 53
emergency stop, 17
enabling device, 17
equipment
mounting, 35
permitted extra load, 35
extra equipment
connections, 55
F
L
load, 19, 21
load diagrams, 28
M
W
working space
restricting, 18, 19
maintenance, 39
manipulator colours, 53
mechanical interface, 38
motion, 40
mounting
extra equipment, 35
robot, 21
mounting flange, 38
N
noise level, 9
O
operating requirements, 20
options, 53
overspeed protection, 17
P
path, 48
payload, 19
performance, 48
pose, 48
protection standards, 20
3HAC9117-1
Rev.N
63
Index
64
Rev.N
3HAC9117-1
3HAC 9117-1, Revision N, en
ABB AB
Robotics Products
S-721 68 VÄSTERÅS
SWEDEN
Telephone: +46 (0) 21 344000
Telefax:
+46 (0) 21 132592
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