Product specification

Product specification
Product specification
Articulated robot
IRB 1400
IRB 1400 - CR
IRB 1400 - H
M2004, M2000
Product specification
Articulated robot
3HAC 9376-1
Rev.E
IRB 1400
IRB 1400 - CR
IRB 1400 - H
M2004/M2000
The information in this manual is subject to change without notice and should not be construed
as a commitment by ABB. ABB assumes no responsibility for any errors that may appear in
this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be construed
as any kind of guarantee or warranty by ABB for losses, damages to persons or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from use of
this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB’s written permission, and contents thereof must not be imparted to a third party nor be used for any unauthorized purpose. Contravention will be prosecuted.
Additional copies of this manual may be obtained from ABB at its then current charge.
©Copyright 2004 ABB All right reserved.
ABB Automation Technologies AB
Robotics
SE-721 68 Västerås
Sweden
Table of Contents
1 Description
5
1.1 Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Clean Room robot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Manipulator axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.1.2 Different robot versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Weight . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Other technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Power consumption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Dimensions IRB 1400, IRB 1400CR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Dimensions IRB 1400H . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6
6
6
7
8
1.2 Safety/Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.2.1 Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.2.2 Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Safety category 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Selecting the operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Reduced speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Three position enabling device. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Safe manual movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Over-speed protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Emergency stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Safeguarded space stop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Delayed safeguarded space stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Restricting the working space . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Hold-to-run control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fire safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Safety lamp (option) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10
10
10
10
10
10
10
11
11
11
11
11
11
1.3 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.3.2 Operating requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Protection standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Clean rooom standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Explosive environments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Ambient temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Relative humidity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12
12
12
12
12
1.3.3 Mounting the manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Illustration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.3.4 Load diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.3.5 Mounting of equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
IRB 1400 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IRB 1400H . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mounting holes for equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Tool flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15
15
16
16
1.4 Maintenance and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.5 Robot Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
1.5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
IRB 1400 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
IRB 1400H . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
1.5.2 Performance according to ISO 9283 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
1.5.3 Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Resolution. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3HAC 9376-1
Rev.E
3
Table of Contents
1.5.4 Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
2 Specification of Variants and Options
25
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.1.1 General. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.1.2 Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Variants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Mounting position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Manipulator color . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.1.3 Application interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Air supply and signals for extra equipment to upper arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Connection to manipulator or cabinet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Connection to cabinet (cable length). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Safety lamp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Position switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Connection to . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Cable lengths . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Connector kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Working range limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
3 Accessories
31
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Basic software and software options for robot and PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Robot Peripherals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4
Rev.E
3HAC 9376-1
1 Description
1.1.1 Introduction
1 Description
1.1 Structure
1.1.1 Introduction
General
IRB 1400 is a 6-axis industrial robot, designed specifically for manufacturing industries that use flexible robot-based automation. The robot has an open structure that is
specially adapted for flexible use, and can communicate extensively with external
systems.
Clean Room robot
The Clean Room robot is classified for clean room class 100 according to US Federal
Standard 209 or class 5 according to ISO 14644-1.
The robot is equipped with the IRC5 controller and robot control software, RobotWare for M2004 and with the S4Cplus controller and robot control software
BaseWare OS for M2000. RobotWare and BaseWare OS 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 for M2004 and Product specification - Controller S4Cplus for M2000.
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 of optional software, see the Product specification
- Controller software/RobotWare Options.
Manipulator axes
Axis 3
Axis 4 Axis 5
Axis 6
Axis 2
Axis 1
Figure 1 The IRB 1400 manipulator has 6 axes.
3HAC 9376-1
Rev.E
5
1 Description
1.1.2 Different robot versions
1.1.2 Different robot versions
The IRB 1400 is available in three different versions:
Robot version
Description
IRB 1400
for floor mounting
IRB 1400CR
for clean room installation
IRB 1400H
for inverted mounting
Robot
Weight
Manipulator
225 kg
Data
Description
Airborne noise level
The sound pressure level out- < 70 dB (A) Leq (acc. to Machinery
side the working space
directive 89/392 EEC)
Weight
Other technical data
Value
Power consumption
Path E1-E2-E3-E4 in the ISO Cube, maximum load.
Speed [mm/s]
Power consumption [kW]
Max.
0.44
1000
0.39
500
0.36
100
0.34
E1
E2
P
P
2
30
P
40
P 10
E4
E3
400 mm
Figure 2 Path E1-E2-E3-E4 in the ISO Cube, maximum load
6
Rev.E
3HAC 9376-1
1 Description
1.1.2 Different robot versions
Dimensions IRB 1400, IRB 1400CR
Z
170
1100
170
85
720
120
600
1310
475
X
398
150
667
Y
R=348
120
685
X
Figure 3 View of the manipulator (floor mounted version) from the side and above(dimensions in mm).
3HAC 9376-1
Rev.E
7
1 Description
1.1.2 Different robot versions
Dimensions IRB 1400H
667
150
398
X
475
1160 450
120
170
720
85
1100
170
Z
R= 372
348
120 450
690
X
342
Y
Figure 4 View of the manipulator (inverted mounted version) from the side and above (dimensions in mm).
8
Rev.E
3HAC 9376-1
1 Description
1.2.1 Standards
1.2 Safety/Standards
1.2.1 Standards
The robot conforms to the following standards:
Standards
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 61000-6-4
(option)
EMC, Generic emission
EN 61000-6-2
EMC, Generic immunity
EN 775
Manipulating industrial robots, safety
Standards
Description
IEC 60204-1
Electrical equipment of industrial machines
IEC 60529
Degrees of protection provided by enclosures
Standards
Description
ISO 10218
Manipulating industrial robots, safety
ISO 9787
Manipulating industrial robots, coordinate systems and motions
Standards
Description
ANSI/RIA R15.06/
1999 (option)
Safety requirements for industrial robots and Robot Systems
ANSI/UL 1740-1998 Safety Standard for Robots and Robotic Equipment
(option)
CAN/CSA Z 434-03 Industrial Robots and Robot Systems - General Safety Requirements
(option)
The robot complies fully with the health and safety standards specified in the EEC’s
Machinery Directives.
3HAC 9376-1
Rev.E
9
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 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 inches/min.).
A speed limitation applies not only to the TCP (Tool Center Point), but to all parts of
the robot. It is also possible to monitor the speed of equipment mounted on the robot.
Three position enabling device
The enabling device on the teach pendant must be used to move the robot when in
manual mode. The enabling device consists of a switch with three positions, meaning
that all robot movements stop when either the enabling device is pushed fully in, or
when it is released completely. This makes the robot safer to operate.
Safe manual movement
The robot is moved using a joystick instead of the operator having to look at the teach
pendant to find the right key.
Over-speed protection
The speed of the robot is monitored by two independent computers.
Emergency stop
There is one emergency stop push button on the controller and another on the teach
pendant. Additional emergency stop buttons can be connected to the robot’s safety
chain circuit.
10
Rev.E
3HAC 9376-1
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 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 each of the axes can be restricted using software limits.
Axes 1, 2 and 3 can also be restricted by means of an adjustable mechanical stop
(option).
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.
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.
3HAC 9376-1
Rev.E
11
1 Description
1.3.1 Introduction
1.3 Installation
1.3.1 Introduction
General
There are two versions of IRB 1400, one for floor mounting and one for inverted
mounting. An end effector, weighing a maximum of 5 kg, including payload, can be
mounted on the robot’s mounting flange (axis 6). Other equipment, weighing a maximum of 18 kg, can be mounted on the rear of the upper arm.
1.3.2 Operating requirements
Protection standards
IEC529
Clean rooom standards
Clean room manipulaor: US Federal Standard 209, class 100 and
ISO14644-1. class 5
Explosive environments
The robot must not be located or operated in an explosive environment.
Ambient temperature
Description
Temperature
Manipulator during operation
+5°C (+41°F) to +45°C (+113°F)
Complete robot during transportation and storage
-25°C (-13°F) to +55°C (+131°F)
Complete robot during transportation and storage,
for short periods (not exceeding 24 hours)
up to +70°C (+158°F)
Description
Relative humidity
Complete robot during transportation and storage
Max. 95% at constant temperature
Complete robot during operation
Max. 95% at constant temperature
Relative humidity
12
Rev.E
3HAC 9376-1
1 Description
1.3.3 Mounting the manipulator
1.3.3 Mounting the manipulator
Maximum load in relation to the base coordinate system.
Endurance load in operation Max. load at emergency stop
Force xy
± 1500 N
± 2000 N
Force z (floor
mounting)
+2800 ± 500 N
+2800 ± 700 N
Force z (inverted
mounting)
- 2800 ± 800 N
-2800 ± 1000 N
Torque xy
± 1800 Nm
± 2000 Nm
Torque z
± 400 Nm
± 500 Nm
Illustration
Ø17,5
38
35
20
2
Ø35 H8 (2x)
15o
Ø35 H8 (2x)
Ø 0.25 A
210
245
200
200
Ø17,5
CL Axis 1
A
Figure 5 Hole configuration (dimensions in mm).
3HAC 9376-1
Rev.E
13
1 Description
1.3.4 Load diagram
1.3.4 Load diagram
Z (mm)
300
250
1 kg
200
1,5 kg
2 kg
150
3 kg
100
4 kg
5 kg
50
(mm) L
85
50
100
150
200
Z= see the above diagram and the coordinate system in
Product Specification S4Cplus
L= distance in X- Y plane from Z-axis to the center of gravity
J= max. 0.012 kgm2
J= own moment of inertia, of the total handling weight
Figure 6 Maximum allowed weight for tool mounted on the mounting flange at different positions (center
of gravity).
14
Rev.E
3HAC 9376-1
1 Description
1.3.5 Mounting of equipment
1.3.5 Mounting of equipment
IRB 1400
A
Mounting holes
for equipment
M8 (2x)
Depth 16
A
135 70
380
200
70
Max. 10 kg
Max. 18 kg
220
=
Max. 10 kg
total equipment
30
=
Max. 18 kg
total equipment
170
A
A
Figure 7 The shaded area indicates the permitted position (center of gravity) for any extra equipment
mounted on the upper arm (dimensions in mm).
IRB 1400H
170
30
A
A
190
Max. 10 kg
70
230
110
70 135
A
Mounting holes
for equipment
M8 (2x)
Depth 16
A
Figure 8 The shaded area indicates the permitted position (center of gravity) for any extra equipment
mounted on the upper arm (dimensions in mm).
3HAC 9376-1
Rev.E
15
1 Description
1.3.5 Mounting of equipment
Mounting holes for equipment
B
150
ý 50
Max. 19 kg
(total)
B
Mounting holes
for equipment, both sides
M8 (3x), R=75
Depth 16
15o
B B
Figure 9 The shaded area indicates the permitted position (center of gravity) for any extra equipment
mounted on the frame (dimensions in mm).
Tool flange
A
C
D=6 H7
Ø0.05 B
M6 (4x)
Ø0.3 C
B
D=12
D=25H8
R 20
10
D=50 h8
45o
A
90o (4x)
2
4
0.06 B
A-A
Figure 10 The mechanical interface, mounting flange (dimensions in mm).
16
Rev.E
3HAC 9376-1
1 Description
1.4.1 Introduction
1.4 Maintenance and Troubleshooting
1.4.1 Introduction
General
The robot requires only a minimum of maintenance during operation. It has been
designed to make it as easy to service as possible:
•
Maintenance-free AC motors are used.
•
Oil and grease are used for the gear boxes.
•
The cabling is routed for longevity, and in the unlike event of a failure, its modular
design makes it easy to change.
Maintenance
The following maintenance is required:
•
Lubricating spring brackets every six months.
•
Changing filter for the transformer/drive unit cooling every year.
•
Greasing axes 5 and 6 every year.
•
Changing batteries every third year.
The maintenance intervals depend on the use of the robot. For detailed information
on maintenance procedures, see Maintenance section in the Product manual.
3HAC 9376-1
Rev.E
17
1 Description
1.5.1 Introduction
1.5 Robot Motion
1.5.1 Introduction
IRB 1400
Extreme positions of the robot arm.
18
Type of motion
Range of movement
Axis 1 Rotation motion
+170° to -170°
Axis 2 Arm motion
+70° to -70°
Axis 3 Arm motion
+70° to -65°
Axis 4 Wrist motion
+150°to -150°
Axis 5 Bend motion
+115° to -115°
Axis 6 Turn motion
+300° to -300°
Rev.E
3HAC 9376-1
1 Description
1.5.1 Introduction
Pos 5
Z
Pos 4
Pos 0
- -
Pos 2
6
+
4
Pos 3
+
Pos 1
+
2
600
-
1195
475
3
5
+
+
1790
Pos 6
Pos 7
50
X
150
511
1008
1440
+170o
Y
R348
+1
X
10o
-1
-170o
For Positions at wrist center
and Angle see the table
on the next page.
Figure 11 The extreme positions of the robot arm.
3HAC 9376-1
Rev.E
19
1 Description
1.5.1 Introduction
Positions at wrist center (mm) and Angle (degrees) Positions 0 to 7:
Angle
Position no
Position (mm) Position (mm)
(degrees)
(see Figure 11) X
Z
Axis 2
Angle
(degrees)
Axis 3
0
870
1195
0
0
1
306
800
-70
+70
2
-716
1345
-70
-35
3
-1008
1104
-70
-65
4
-596
1561
-43
-65
5
208
1792
-6
-65
6
1442
737
+70
-65
7
239
125
+70
+70
IRB 1400H
Extreme positions of the robot arm, inverted version.
20
Type of motion
Range of movement
Axis 1 Rotation motion
+170° to -170°
Axis 2 Arm motion
+20° to -100°
Axis 3 Arm motion
+70° to -65°
Axis 4 Wrist motion
+150° to -150°
Axis 5 Bend motion
+115° to -115°
Axis 6 Turn motion
+300° to -300°
Rev.E
3HAC 9376-1
1 Description
1.5.1 Introduction
1282
733
150
X
+
Pos 10
1045
Pos 9
+
+
+
6
-
5
+
Pos 8
3
Pos 5
Pos 1
+ 4
Pos 3
-
-
-
Pos 2
Pos 0
Pos 6
Z
Axis 1 ± 170o
1645
Pos 4
-
2
Pos 7
Axis 1 +145
- 135o
733
1282
- 135°
Y
- 170°
R
+ 170°
10
+1
51
X
-1
72
R3 2
s
Axi
+ 170°
- 170°
+ 145°
For Positions at wrist center
and Angle see the table
on the next page
Figure 12 The extreme positions of the robot arm, inverted version (dimensions in mm). Manipulator seen
from the side and above.
3HAC 9376-1
Rev.E
21
1 Description
1.5.1 Introduction
Positions at wrist center (mm) and Angle (degrees) Positions 0 to 10.
22
Angle
Postion no
Position (mm) Position (mm)
(degrees)
(see Figure 12) X
Z
Axis 2
Angle
(degrees)
Axis 3
0
570
1045
0
0
1
-30
861
-100
+70
2
-586
1127
-100
+20
3
-1104
918
-100
-25
4
-1277
653
-100
-50
5
-1282
770
-85
-65
6
-1051
1221
-60
-65
7
-158
1645
-10
-65
8
734
891
+20
-10
9
633
527
+20
+20
10
254
494
-30
+70
Rev.E
3HAC 9376-1
1 Description
1.5.2 Performance according to ISO 9283
1.5.2 Performance according to ISO 9283
General
At rated load and 1 m/s velocity on the inclined ISO test plane with all six robot axes
in motion.
Unidirectional pose repeatability
RP = 0.05 mm
Linear path accuracy
AT = 0.45 - 1.0 mm
Linear path repeatability
RT = 0.14 - 0.25 mm
Minimum positioning time, to within 0.2 mm of 0.2 - 0.35 sec. (on 35 mm linear path)
the position
0.45 - 0.6 sec. (on 350 mm linear path)
The above values are the range of average test-results from a number of robots.
1.5.3 Velocity
Axis no.
IRB 1400
IRB 1400H
1
120°/s
130°/s
2
120°/s
130°/s
3
120°/s
120°/s
4
280°/s
280°/s
5
280°/s
280°/s
6
280°/s
280°/s
Supervision is required to prevent overheating in applications with intensive and frequent movements.
Resolution
Approx. 0.01o on each axis.
1.5.4 Signals
For more information of air and signals for extra equipment to upper arm, see Application
Interface in Chapter 2 Specification of Variants and Options .
3HAC 9376-1
Rev.E
23
1 Description
1.5.4 Signals
24
Rev.E
3HAC 9376-1
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 1400 are described below.
The same numbers are used here as in the Specification form.
For controller options, see Product specification - Controller IRC5 with FlexPendant
for M2004 and Product specification - Controller S4Cplus for M2000, and for software options, see Product specification - Controller software/RobotWare Options.
2.1.2 Manipulator
Variants
Option
Robot type
435-3
IRB 1400
435-4
IRB 1400H
Option
Description
224-1
Floor mounted
224-2
Hanging
Option
Description
209-1
The robot is painted in color ABB Orange.
209-2
The robot is painted in white color.
209-4-192
The manipulator is painted with the chosen RAL-color.
Option
Description
287-1
Clean Room
Robot with clean room class 100 according to
US Federal Standard 209.
The robot is labeled with “Clean Room”.
Mounting position
Manipulator color
Protection
3HAC 9376-1
Rev.E
25
2 Specification of Variants and Options
2.1.3 Application interface
2.1.3 Application interface
Air supply and signals for extra equipment to upper arm
Option
Description
218-8
Hose for compressed air is integrated into the manipulator. There
is an inlet at the base and an outlet on the upper arm housing.
Connections: R1/4” in the upper arm housing and at the base.
Max. 8 bar.
Inner hose diameter: 6.5 mm.
For connection of extra equipment on the manipulator, there are
cables integrated into the manipulator’s cabling.
Number of signals: 12 signals 49 V, 500 mA
Connector on upper arm: FCI 12-pin UT0014-12SHT
Connector on robot base: FCI 12-pin UT0014-12PHT
218-3
Control cabling to arc welding wire-feeder is integrated into the
manipulator’s cabling.
Control signals:
16 signals, 49 V, 500 mA
Connector on upper arm housing: FCI 23-pin UTG 618-23PN
Connector on robot base: FCI 23-pin socket UT001823SHT
Power signals:
12 signals, 300 V, 4 A
Connector on upper arm housing: Burndy 12-pin socket UTG 61412SN
Connector on robot base: Burndy 12-pin UT001412PHT
This option is not available for IRB 1400H and not together with
67A-D/671-674.
Connection to manipulator or cabinet
Option
Description
16-2
Manipulator
The signals are connected directly to the manipulator base to one
12-pin Burndy connector, see option 041.
16-1a
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, e.g. a PLC
cabinet.
26
Rev.E
3HAC 9376-1
2 Specification of Variants and Options
2.1.3 Application interface
If 43x
If 218-8 or 218-3
If 16-1
Figure 13
Connection to cabinet (cable length)
Option
Cable lengths
94-1
7m
94-2
15m
94-3
22m
94-4
30m
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
Position switch
Switches indicating the position of axis 1. A design with two stationary switches is
available. The switches are manufactured by Telemecanique and of type forced disconnect.
The two switches divide the working area of axis 1 into two fixed working zones,
approx. 175o each. Together with external safety arrangement, this option allows
access to one working zone at the same time as the robot is working in the other one.
Note that the switches are not recommended to be used in severe environments with sand or
chips.
3HAC 9376-1
Option
Description
27-1
Two switches, axis 1 stationary
Rev.E
27
2 Specification of Variants and Options
2.1.3 Application interface
Connection to
Option
Description
271-2
Manipulator
Connection on the manipulator base with one FCI 23-pin connector.
271-1
Cabinet
Connection on the cabinet wall. Position switch cables are included.
The signals are connected to 12-pole screw terminals, Phoenix MSTB
2.5/12-ST-5.08.
Controller
Figure 14 Connections of the signals
Cable lengths
Only together with option 271-1, connection to cabinet.
Option
Cable lengths
273-1
7m
273-2
15m
273-3
22m
273-4
30m
Connector kit
Detached connectors, suitable to the connectors for the application interface and
position switches.
The kit consists of connectors, pins and sockets.
28
Option
Description
431-1
For the connectors on the upper arm of application interface,
option 218-8.
239-1
For the connectors on the foot of connection to manipulator,
option 16-2.
426-1
For connection to position switches and connection to manipulator,
option 27-1 and option 271-2.
Rev.E
3HAC 9376-1
2 Specification of Variants and Options
2.1.3 Application interface
Working range limit
To increase the safety of the robot, the working range of axes 1, 2 and 3 can be
restricted.
3HAC 9376-1
Option
Description
28-1
Axis 1
The working range of axis 1 can be limited. Using restriction stops, the
working range can be limited from +150°/-150° to the smallest working
range which is +50°. The restriction between 50° and 150° can be performed at any position by machining M10 holes and mounting the
stops. The kit contains stops, screws and instructions.
32-1
Axis 2
By adding stop lugs, the working range of axis 2 can be restricted to
+50° / -30° (for floor mounted version), -20° / -60° (for inverted
mounted version).
34-1
Axis 3, Floor mounted (not 1400H)
Axis 3 can be restricted so that it cannot move above the horizontal
line, alternatively it can move a maximum of 10° above the horizontal
line.
Rev.E
29
2 Specification of Variants and Options
2.1.3 Application interface
30
Rev.E
3HAC 9376-1
3 Accessories
3 Accessories
General
There is a range of tools and equipment available, specially designed for the robot.
Basic software and software options for robot and PC
For more information, see Product specification - Controller IRC5 with FlexPendant
for M2004 and Product specification - Controller S4Cplus for M2000, and Product
specification - Controller software/RobotWare Options.
Robot Peripherals
3HAC 9376-1
•
Track Motion
•
Motor Units
Rev.E
31
3 Accessories
32
Rev.E
3HAC 9376-1
Index
accessories, 31
air supply, 26
repeatability, 23
Robot Peripherals, 31
robot versions, 6
C
S
connector kit, 28
cooling device, 6
safeguarded space stop, 11
delayed, 11
safety, 9
safety lamp, 11, 27
service, 17
service position indicator, 27
signal connections, 26
space requirements, 6
standards, 9
structure, 5
A
E
emergency stop, 10
enabling device, 10
equipment
mounting, 15
permitted extra load, 15
extra equipment
connections, 26
F
T
fire safety, 11
temperature, 12
troubleshooting, 17
H
U
hold-to-run control, 11
humidity, 12
UL approved, 9
I
installation, 12
Variants, 25
variants, 25
L
W
load, 12, 13
load diagrams, 14
weight, 6
working space
restricting, 11, 29
M
V
maintenance, 17
manipulator colours, 25
mechanical interface, 16
motion, 18
mounting
extra equipment, 15
robot, 13
mounting flange, 16
N
noise level, 6
O
operating requirements, 12
options, 25
overspeed protection, 10
P
payload, 12
performance, 23
position switch, 27
protection standards, 12
R
range of movement
working space, 18
reduced speed, 10
3HAC 9376-1
Rev.E
33
Index
34
Rev.E
3HAC 9376-1
3HAC 9376-1, Revision 5, en
ABB Automation Technologies AB
Robotics
S-721 68 VÄSTERÅS
SWEDEN
Telephone: +46 (0) 21 344000
Telefax:
+46 (0) 21 132592
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