ABB IRB 2400/10 Product Specification

Product specification

Articulated robot

IRB 2400/10

IRB 2400/16

IRB 2400/L

M2004


Articulated robot

3HAC9112-1

Rev. N

IRB 2400/10

IRB 2400/16

IRB 2400/L

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

1.2 Safety/Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

1.2.1 Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13

1.3 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

1.3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17

1.3.2 Operating requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18

1.3.3 Mounting the manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19

1.4 Load diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

1.4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22

1.4.2 Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23

1.4.3 Maximum load and moment of inertia for full axis 5 movement . . . . . . . . . . . . . . . . . . . . . .27

1.4.4 Wrist torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28

1.5 Mounting equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

1.5.1 Robot tool flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32

1.6 Calibration and references . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

1.6.1 Fine calibration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .33

1.6.2 Absolute Accuracy calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34

1.7 Maintenance and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

1.7.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .36

1.8 Robot Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

1.8.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37

1.8.2 Performance according to ISO 9283 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

1.8.3 Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42

1.8.4 Stopping distance/time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42

1.8.5 Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43

2 Specification of Variants and Options 45

2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

2.1.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .45

2.1.2 Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .45

2.1.3 Positioners . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50

2.1.4 Track Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50

2.2 Floor cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

2.2.1 Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .51

2.2.2 Positioner . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .52

2.3 Process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

2.3.1 DressPack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .53

2.3.2 Process equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .54

2.3.3 AW Safety options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .55

2.3.4 Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .56

3 Accessories 57

3HAC 9112-1 Rev.N

3

Table of Contents

4 Rev.N

3HAC 9112-1

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 integrated auxiliary equipments as that is: Customer Connections

• 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

Revision

Revision 6

Revision G

Revision H

Revision J

Revision K

Revision L

Revision M

Revision N

Description

- The IRB 2400/L 5-kg version cancelled

- New values for Performance Acc. to ISO 9283 added

- M2000 cancelled.

- Option 287-5 Wash removed

- Chapter Calibration and references added

- Footnote added for “Pose accuracy”

- Arc welding added in Specification of Variants and Options

- Changes in chapter Standards

- Directions of forces

- An extended load diagram for IRB 2400/16 is added

- Warranty information for Load diagrams

- Maximum load and moment of inertia for full axis 5 movement

- Wrist torque

- Changes for Calibration data

- Work range

- Explanation of ISO values (new figure and table)

- Stopping distance

- Changes in chapter Specification of Variants and Options, Track

Motion and Process equipment

- User documentation on DVD

3HAC 9112-1 Rev.N

5

Overview

Complementary Product specifications


Controller

Controller Software

IRC5

Robot User Documentation

Description

IRC5 with FlexPendant, 3HAC021785-001

RobotWare 5.11, 3HAC022349-001

IRC5 and M2004, 3HAC024534-001

6 Rev.N

3HAC 9112-1

1 Description

1.1.1 Introduction

1 Description

1.1 Structure

1.1.1 Introduction

General

IRB 2400 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.

Foundry robots

The Foundry robots are suitable for operating in harsh environments and have 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 IRB 2400F/10 and IRB 2400F/16 have the FoundryPlus protection which means that the hole manipulator is IP67 classified and steam washable.

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 RW. RobotWare RW 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 conroller 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 Product specification - Controller software IRC5/RobotWare Options.

3HAC 9112-1 Rev.N

7

1 Description

1.1.1 Introduction

Manipulator axes

Figure 1 The IRB 2400 manipulator has 6 axes.

8 Rev.N

3HAC 9112-1

1 Description

1.1.2 Different robot versions

1.1.2 Different robot versions

General

The IRB 2400 is available in three versions and all versions can be mounted inverted.

IRB 2400/10 can also be wall mounted.

Robot type

IRB 2400/10

IRB 2400/16

IRB 2400/L

Handling capacity (kg) Reach (m)

10 kg 1.55 m

16 kg (20 kg with some limita-

tions, see chapter 1.4)

1.55 m

7 kg 1.80 m

Definition of version designation

IRB 2400 / Version.

Version

Prefix Description

L Long arm

Manipulator weight

Other technical data

Manipulator

Weight

380 kg

Data Description Values

Airborne noise level The sound pressure level outside the working space

< 70 dB (A) Leq (acc. to Machinery directive 89/392 EEC)

3HAC 9112-1 Rev.N

9

1 Description


Power consumption

Path E1-E2-E3-E4 in the ISO Cube, maximum load.

Speed [mm/s]

Max.

1000

500

100

Power consumption [kW]

0.61 - 0.67

0.46 - 0.50

0.40 - 0.44

0.37 - 0.39

Figure 2 Path E1-E2-E3-E4 in the ISO Cube, maximum load.

10 Rev.N

3HAC 9112-1

Dimensions for IRB 2400/L

1 Description


Figure 3 View of the manipulator from the side, rear and above (dimensions in mm).

3HAC 9112-1 Rev.N

11

1 Description


Dimensions for IRB 2400/10 and IRB 2400/16

Figure 4 View of the manipulator from the side, rear and above (dimensions in mm).

12 Rev.N

3HAC 9112-1

1 Description

1.2.1 Standards

1.2 Safety/Standards

1.2.1 Standards

The robot conforms to the following standards:

EN-Standards

EN ISO 12100-1

EN ISO 12100-2

EN 954-1

EN 60204

EN ISO 60204-1:2006

EN ISO 10218-1:2006 a

EN 61000-6-4 (option)

EN 61000-6-2

Description

Safety of machinery, terminology

Safety of machinery, technical specifications

Safety of machinery, safety related parts of control systems

Electrical equipment of industrial machines

Safety of machinery - Electrical equipment of machines

Robots for industrial environments - Safety requirements

EMC, Generic emission

EMC, Generic immunity a. There is a deviation from paragraph 6.2 in that only worst case stop distances and stop times are documented.

IEC-Standards

IEC 60529

ISO-Standards

ISO 9409-1

ISO 9787

Description

Degrees of protection provided by enclosures

Description

Manipulating industrial robots, mechanical interface

Manipulating industrial robots, coordinate systems and motions

Standards

ANSI/RIA R15.06/1999

(option)

ANSI/UL 1740-1998

(option)

CAN/CSA Z 434-03

(option)

Description

Safety Requirements for Industrial Robots and Robot Systems

Safety Standard for Robots and Robotic Equipment

Industrial Robots and Robot Systems - General Safety Requirements

3HAC 9112-1 Rev.N

13

1 Description

1.2.1 Standards

The robot complies fully with the health and safety standards specified in the EEC’s

Machinery Directives.

Safety function

The Service

Information System

(SIS)

Description

The service information system gathers information about the robot’s usage and determines how hard the robot is used. The usage is characterized by the speed, the rotation angles and the load of every axis.

With this data collection, the service interval of every individual robot of this generation can be predicted, optimized and service activities planned ahead. The collection data is available via the

FlexPendant or the network link to the robot.

The Process Robot Generation is designed with absolute safety in mind. It is dedicated to actively or passively avoid collisions and offers the highest level of safety to the operators and the machines as well as the surrounding and attached equipment. These features are presented in the active and passive safety system.

The time the robot is in operation (brakes released) is indicated on the FlexPendant. Data can also be monitored over network, using e.g. WebWare.

The Active Safety

System

General

The Active Brake

System (ABS)

Description

The active safety system includes those software features that maintain the accuracy of the robot’s path and those that actively avoid collisions which can occur if the robot leaves the programmed path accidentally or if an obstacle is put into the robot’s path.

All robots are delivered with an active brake system that supports the robots to maintain the programmed path in General Stop (GS),

Auto Stop (AS) and Superior Stop (SS).

The ABS is active during all stop modes, braking the robot to a stop with the power of the servo drive system along the programmed path. After a specific time the mechanical brakes are activated ensuring a safe stop.

The stopping process is in accordance with a class 1 stop. The maximum applicable torque on the most loaded axis determines the stopping distance.

In case of a failure of the drive system or a power interruption, a class 0 stop turns out. Emergency Stop (ES) is a class 0 stop. All stops (GS, AS, SS and ES) are reconfigurable.

While programming the robot in manual mode, the enabling device has a class 0 stop.

14 Rev.N

3HAC 9112-1

3HAC 9112-1

1 Description

1.2.1 Standards

The Active Safety

System

Description

The Self Tuning

Performance (STP)

The Electronically

Stabilised Path (ESP)

The Process Robot Generation is designed to run at different load configurations, many of which occur within the same program and cycle.

The robot’s installed electrical power can thus be exploited to lift heavy loads, create a high axis force or accelerate quickly without changing the configuration of the robot.

Consequently the robot can run in a “power mode” or a “speed mode” which can be measured in the respective cycle time of one and the same program but with different tool loads. This feature is based on QuickMove TM .

The respective change in cycle time can be measured by running the robot in NoMotionExecution with different loads or with simulation tools like RobotStudio.

The load and inertia of the tool have a significant effect on the path performance of a robot. The Process Robot Generation is equipped with a system to electronically stabilize the robot’s path in order to achieve the best path performance.

This has an influence while accelerating and braking and consequently stabilizes the path during all motion operations with a compromise of the best cycle time. This feature is secured through

TrueMove TM .

Over-speed protection The speed of the robot is monitored by two independent computers.

Restricting the working space

The movement of each axis can be restricted using software limits.

As options axes 1-2 can also be restricted by means of mechanical stops and axis 3 by an electrically switch.

Collision detection

(option)

In case of an unexpected mechanical disturbance, such as a collision, electrode sticking, etc., the robot will detect the collision, stop on the path and slightly back off from its stop position, releasing tension in the tool.

The Passive Safety

System

Description

General

Compact robot arm design

Moveable mechanical limitation of main axes

(option)

The Process Robot Generation has a dedicated passive safety system that by hardware construction and dedicated solutions is designed to avoid collisions with surrounding equipment. It integrates the robot system into the surrounding equipment safely.

The shape of the lower and upper arm system is compact, avoiding interference into the working envelope of the robot.

The lower arm is shaped inward, giving more space under the upper arm to re-orientate large parts and leaving more working space while reaching over equipment in front of the robot.

The rear side of the upper arm is compact, with no components projecting over the edge of the robot base even when the robot is moved into the home position.

Axes 1-2 can be equipped with moveable mechanical stops, limiting the working range of every axis individually. The mechanical stops are designed to withstand a collision even under full load.

Rev.N

15

1 Description

1.2.1 Standards

16

The Passive Safety

System

Description

Electronic Position

Switches (EPS) on up to 7 axes (option)

EPS offers axes position status signals, fulfilling applicable regulations for personnel safety. Five outputs can each be configured to reflect the position of a single axis or a combination of axes. For each output, the range for each included axis can be set arbitrarily.

The Internal Safety

Concept

Description

General

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, i.e. not by any external equipment.

Reduced speed

The internal safety concept of the Process Robot Generation is based on a two-channel circuit that is monitored continuously. If any component fails, the electrical power supplied to the motors shuts off and the brakes engage.

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

Emergency stop

The robot is moved using a joystick instead of the operator having to look at the FlexPendant to find the right key.

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.

Safeguarded space stop

Delayed 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.

A delayed stop gives a smooth stop. The robot stops 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 is shut off.

Hold-to-run control

Fire safety

Safety lamp (option)

“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.

Both the manipulator and control system comply with UL’s

(Underwriters Laboratories Inc.) tough requirements for fire safety.

As an 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.

Rev.N

3HAC 9112-1

1 Description

1.3.1 Introduction

1.3 Installation


General

The same version of the robot can either be mounted on the floor or inverted. An end effector, max. weight 7, 10 or 16 kg including payload, can be mounted on the robot’s mounting flange (axis 6) depending on the robot version.

See section 1.4 Load diagrams.

Other equipment

Other equipment can be mounted on the upper arm, max. weight 11 kg or 12 kg, and on the base, max. weight 35 kg. Holes for mounting extra equipment, see

chapter 1.5 Mounting equipment and Figure 12 and Figure 13.

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 position indicator of manipulator.

3HAC 9112-1 Rev.N

17

1 Description

1.3.2 Operating requirements

1.3.2 Operating requirements

Protection standards

Robot Version/Protection Standard

Standard and Clean Room Manipulator

IRB 2400F/L and C/L

Manipulator

Wrist

Connectors

IRB 2400F/10, F/16

Manipulator

Protection standard IEC529

IP54

IP55

IP67

IP67

IP67, Steam washable

Clean room standards

US Federal Standard 209

ISO 14644-1

Class 100

Class 5

Explosive environments

The robot must not be located or operated in an explosive environment.

Ambient temperature

Description

Manipulator during operation

For the controller

Standard/Option

Standard

Standard/Option

Complete robot during transportation and storage

For short periods (not exceeding 24 hours)

Standard

Standard

Temperature

+ 5°C (41°F) to + 45°C (113°F)

See Product specification - Controller IRC5 with FlexPendant

- 25°C (-13°F) to + 55°C (131°F) up to + 70°C (158°F)

Relative humidity

Description

Complete robot during transportation and storage

Complete robot during operation

Relative humidity

Max. 95% at constant temperature

Max. 95% at constant temperature

18 Rev.N

3HAC 9112-1

1 Description

1.3.3 Mounting the manipulator

1.3.3 Mounting the manipulator

Maximum load in relation to the base coordinate system. See Figure 6.

IRB 2400/L

Force xy

Force z floor mounting

Force z inverted mounting

Torque xy

Torque z

Endurance load in operation Max. load at emergency stop

± 1700 N

+ 4100 ±1100 N

- 4100 ±1100 N

± 3000 Nm

± 450 Nm

± 2100 N

+ 4100 ± 1400 N

- 4100 ± 1400 N

± 3400 Nm

± 900 Nm

IRB 2400/10 and IRB 2400/16

Force xy

Force z floor mounting

Force z inverted mounting

Torque xy

Torque z

Endurance load in operation Max. load at emergency stop

± 2000 N

+ 4100 ± 1400 N

- 4100 ± 1400 N

± 3400 Nm

± 550 Nm

± 2600 N

+ 4100 ± 1900 N

- 4100 ± 1900 N

± 4000 Nm

± 900 Nm

3HAC 9112-1 Rev.N

19

1 Description


Figure 5 Directions of forces.

Note regarding M xy

and F xy

The bending torque (M xy

) can occur in any direction in the XY-plane of the base coordinate system.

The same applies to the transverse force (F xy

).

20 Rev.N

3HAC 9112-1

Figure 6 Hole configuration (dimensions in mm).

Pos

A

B

C

Description

Z = center line axis 1

The same dimensions

View from the bottom of the base

1 Description


3HAC 9112-1 Rev.N

21

1 Description

1.4.1 Introduction

1.4 Load diagrams


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.

22 Rev.N

3HAC 9112-1

1.4.2 Diagrams

IRB 2400/L

1 Description

1.4.2 Diagrams

3HAC 9112-1

Z

L

J

Figure 7 Maximum weight permitted for load mounting on the mounting flange at different positions (center of gravity).

Description

See the above diagram and the coordinate system in the Product specification

- IRC5 with FlexPendant

Distance in X -Y plane from Z - axis to the center of gravity

Maximum own moment of inertia on the total handling weight =

≤

0.012 kgm

2

Rev.N

23

1 Description

1.4.2 Diagrams

IRB 2400/10

24

Z

L

J


Description





≤

0.040 kgm

2

Rev.N

3HAC 9112-1

IRB 2400/16

1 Description

1.4.2 Diagrams

3HAC 9112-1

Z

L

J


Description





≤

0.060 kgm 2

Rev.N

25

1 Description

1.4.2 Diagrams

IRB 2400/16 Extended load diagram

Below is an extended load diagram for IRB 2400/16, payload 20 kg.

No extra load on wrist, see Figure 14.

26

Z

L

J

Figure 10 Maximum weight permitted for load mounting on the mounting flange at different positions

(center of gravity).

Description





≤

0.060 kgm 2

Rev.N

3HAC 9112-1

1 Description

1.4.3 Maximum load and moment of inertia for full axis 5 movement

1.4.3 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 (J ox

, J oy

, J oz

) in kgm 2 . L=

√(

X 2 + Y 2

), see Figure 11.

Full movement of Axis 5 (±115º)

5

Axis Robot Type Maximum momemt of inertia

5

6

IRB 2400L

IRB 2400L

J

5

= Mass x ((Z + 0.065) 2 + L 2 ) + max (J

0x

, J

0y

) ≤ 0.65 kgm 2

J

6

= Mass x L

2

+ J

0Z

≤

0.31 kgm

2

Axis Robot Type

5

6

IRB 2400/10

IRB 2400/10

Axis Robot Type

5

6

IRB 2400/16

IRB 2400/16

Maximum momemt of inertia

J

5

= Mass x ((Z + 0.085)

2

+ L

2

) + max (J

0x

, J

0y

) ≤ 1.15 kgm

2

J

6

= Mass x L 2 + J

0Z

≤ 0.70 kgm 2

Maximum momemt of inertia

J

5

= Mass x ((Z + 0.085) 2 + L 2 ) + max (J

0x

, J

0y

) ≤ 1.85 kgm 2

J

6

= Mass x L

2

+ J

0Z

≤

1.05 kgm

2

Figure 11 Moment of inertia when full movement of axis 5.

Pos

A

Description

Center of gravity

J ox

, J oy

, J oz

Description

Max. moment of inertia around the X, Y and Z axes at center of gravity.

3HAC 9112-1 Rev.N

27

1 Description

1.4.4 Wrist torque

1.4.4 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

IRB 2400L

RB 2400/10

RB 2400/16

Max wrist torque axis 4 and 5

Max wrist torque axis 6

Max torque valid at load

12.4 Nm

20.6 Nm

33.0 Nm

5.84 Nm

9.81 Nm

15.7 Nm

7 kg

10 kg

16 kg

28 Rev.N

3HAC 9112-1

1 Description

1.4.4 Wrist torque

1.5 Mounting equipment

The robot is supplied with tapped holes on the upper arm and on the base for mounting extra equipment.

IRB 2400/L

300

M5 (2x)

Depth 9

A

Max. 10kg

A

37

37

62

70 (2x)

D - D

M8 (2x)

Depth 14

D

Max. 1kg

135 150

67

D

30

170

400 470

CL

A - A

M8 (3x) R=92

Depth 16

120 o

(3x)

38 o

B - B M8 (3x) R=77

Depth 16

120 o

(3x)

B

Max. 35 kg total

C

150

D=50

38 o

B

C

C - C (A)

Figure 12 The shaded area indicates the permitted positions (center of gravity) for any extra equipment mounted in the holes (dimensions in mm).

Pos

A

Description

The rear side of the manipulator

3HAC 9112-1 Rev.N

29

1 Description

1.4.4 Wrist torque

IRB 2400/10 and IRB 2400/16

A

110

300

A

M5 (2x)

M6 (2x) M8 (3x)

Depth of thread 14

65 177

300 450

D=240 22

78

43

Max. 2kg

90

A - A

Max. 10kg

M8 (3x) R=92

Depth 16

100

200

30

38 o

B - B

M8 (3x) R=77

Depth 16

Max. 35 kg total

120 o

(3x) C

B

150

D=50

38 o

120 o

(3x)

B

C

C - C

(A)


Pos

A

Description


Rev.N

3HAC 9112-1

IRB 2400/16 with payload 20 kg

A

100

A

M8 (3x)

Depth of thread 14

65 177

(A)

90

A - A Max. 10kg

M8 (3x) R=92

Depth 16

100

200

1 Description

1.4.4 Wrist torque

3HAC 9112-1

38 o

B - B

M8 (3x) R=77

Depth 16

Max. 35 kg total

120 o

(3x) C

B

150

D=50

38 o

120 o

(3x)

B

C

(B)

C - C


Pos

A

B

Description

No extra load on wrist


Rev.N

31

1 Description

1.5.1 Robot tool flange

1.5.1 Robot tool flange

IRB 2400/L

R=20

45 o

A +0.012

D=6 H7

Ø 0.05 B

M6 (4x)

9

+0.027 -0

+0 -0.039

A

90 o (4x) 6

A - A

Figure 15 The mechanical interface, mounting flange (dimensions in mm).

IRB 2400/10 and IRB 2400/16

A

D=6

+0.012

-0

H7, depth min 8

Ø 0.05 B

30 o

M6 (6x) o

6

0

5 x

R=25

10

B

+0 -

A

Figure 16 The mechanical interface, mounting flange (dimensions in mm).

7

A - A

B

32 Rev.N

3HAC 9112-1

1 Description

1.6.1 Fine calibration

1.6 Calibration and references

1.6.1 Fine calibration

General

Fine calibration is made using the Calibration Pendulum, please see Operating manual - Calibration Pendulum.

Calibration

Figure 17 All axes in zero position.

Calibration

Calibration of all axes

Calibration of axis 1 and 2

Calibration of axis 1

Position

All axes are in zero position

Axis 1 and 2 in zero position

Axis 3 to 6 in any position

Axis 1 in zero position

Axis 2 to 6 in any position

3HAC 9112-1 Rev.N

33

1 Description

1.6.2 Absolute Accuracy calibration

1.6.2 Absolute Accuracy calibration

General

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 is focusing on positioning accuracy in the cartesian coordinate system for the robot. It also includes load compensation for deflection caused by the tool and equipment. Tool data from robot program is used for this purpose. The positioning will be within specified performance regardless of load.

Calibration data

Requires RobotWare option Absolute Accuracy, please see Product specification -

Controller software IRC5 for more details.

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.

34 Rev.N

3HAC 9112-1

1 Description

1.6.2 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 18 The Cartesian coordinate system.

Production data

Typical production data regarding calibration are:

Robot

IRB 2400L

IRB 2400/10

IRB 2400/16

Positioning accuracy (mm)

Average

0,40

Max

0,80

0,30 0,70

% Within 1 mm

100

100

3HAC 9112-1 Rev.N

35

1 Description

1.7.1 Introduction

1.7 Maintenance and Troubleshooting


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.

The following maintenance is required:

• Changing filter for the drive system cooling every year.

• Changing batteries every 3rd year.

• Changing oil in the wrist after the first year and then every 5th year.

Maintenance

The maintenance intervals depend on the use of the robot. For detailed information on maintenance procedures, see Maintenance section in the Product Manual.

36 Rev.N

3HAC 9112-1

1 Description

1.8.1 Introduction

1.8 Robot Motion


IRB 2400/L

The working area is the same for both floor and inverted mounting.

Type of motion

Axis 1 Rotation motion

Axis 2 Arm motion

Axis 3 Arm motion

Axis 4 Wrist motion

Axis 5 Bend motion

Axis 6 Turn motion

Range of movement

+180° to -180°

+110° to -100°

+65° to -60°

+185° to -185°

+115° to -115°

+400° to -400°

+300 rev.

a

to -300 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).

3HAC 9112-1 Rev.N

37

1 Description

1.8.1 Introduction

38

1702

Pos 5

R=5

70

3421

Axis 3

Z

Pos 1

Axis 4

Pos 0 (A)

Pos 6

Axis 2

+

+

+

Axis 5

+

Axis 6

+ R=

521

Pos 2

2885

Axis 1

100

R

=4

00

Pos 4

Pos 4

1810

Pos 3

(B)

560

X

Figure 19 The extreme positions of the robot arm (dimensions in mm).

Pos

A

B

Description

Wrist center

Positions at wrist center (mm) and angle (degrees) see the following table

Positions at wrist center (mm) and Angle (degrees) for IRB 2400/L:

5

6

3

4

0

1

2

Position no

(see Figure 19)

Position (mm)

X

Position (mm)

Z

Angle

(degrees)

Axis 2

970

404

602

1577

400

-1611

-115

1620

2298

745

-246

-403

623

1088

0

0

0

110

110

-100

-100

Angle

(degrees)

Axis 3

0

-60

65

-60

24.5

-60

65

Rev.N

3HAC 9112-1

1 Description

1.8.1 Introduction

IRB 2400/10 and IRB 2400/16

The working area is the same for both floor and inverted mounting.

For wall mounted 10 kg version axis 1 rotation is limited to ±30º.

Type of motion

Axis 1 Rotation motion a

Axis 2 Arm motion

Axis 3 Arm motion

Axis 4 Wrist motion

Axis 5 Bend motion

Axis 6 Turn motion

Range of movement

+180° to -180°

+110° to -100°

+65° to -60°

+200° to -200° (Unlimited as optional)

+120° to -120°

+400° to -400°

+250 rev.

b to -250 rev. Max.

c a. +30° to -30° for wall mounted 10 kg version.

b. rev. = Revolutions c. 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).

3HAC 9112-1 Rev.N

39

1 Description

1.8.1 Introduction

40

1441

Pos 5

Axis 3

2900

Z

Pos 1

Axis 4

Pos 0 (A)

Pos 6

Axis 2

+

+

+ + +

Axis 5 Axis 6

R=

448

Pos 2

2458

R=5

70

Axis 1

100

R

=4

00

Pos 4

Pos 4

1550

Pos 3

393

X

(B)

Figure 20 The extreme positions of the robot arm (dimensions in mm).

Pos

A

B

Description

Wrist center

Positions at wrist center (mm) and angle (degrees) see the following table

Positions at wrist center (mm) and Angle (degrees) for IRB 2400/10 and

IRB 2400/16:

5

6

3

4

0

1

2

Position no

(see Figure 20)

Position (mm)

X

Position (mm)

Z

Angle

(degrees)

Axis 2

855

360

541

1351

400

-1350

-53

1455

2041

693

-118

-302

624

1036

0

0

0

110

110

-100

-100

Angle

(degrees)

Axis 3

0

-60

65

-60

18.3

-60

65

Rev.N

3HAC 9112-1

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 21.

3HAC 9112-1

Figure 21 Explanation of ISO values.

Pos Description

A

B

AP

RP

Pos

Programmed position E

Mean position at program execution D

Mean distance from programmed position

AT

Tolerance of posiotion B at repeated positioning

RT

Description

Programmed path

Actual path at program execution

Max deviation from E

Tolerance of the path at repeated program execution

IRB IRB 2400/L IRB 2400/10 IRB 2400/16

Description Values

Pose repeatability, RP (mm)

Pose accuracy, AP a

(mm)

0.07

0.04

Linear path repeatability, RT (mm) 0.11

Linear path accuracy, AT (mm)

Pose stabilization time, Pst (s) within 0.4 mm of the position

0.78

0.14

0.03

0.03

0.11

0.33

0.15

0.03

0.03

0.15

0.41

0.22

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.

Rev.N

41

1 Description

1.8.3 Velocity

1.8.3 Velocity

Axis no.

1

2

3

4

5

6

IRB 2400/L

150°/s

IRB 2400/10

150°/s

150°/s

360°/s

360°/s

450°/s a. For wall mounted 10 kg version

150°/s

90°/s a

150°/s

90°/s a

150°/s

90°/s a

360°/s

360°/s

450°/s

IRB 2400/16

150°/s

150°/s

150°/s

360°/s

360°/s

450°/s

Supervision is required to prevent overheating in applications with intensive and frequent movements.

Resolution

Approx. 0.01

o on each axis.

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.

Robot Type

IRB 2400L

Axis

1

2

3

Category 0 Category 1

A

35.2

13.9

10.9

B A B

0.47

59 0.70

0.18

26.2

0.35

0.15

26.4

0.30

Main power failure

A

46.2

22.1

21.4

B

0.54

0.24

0.21

Robot Type

IRB 2400/10

Axis

1

2

3


A

39.7

13.5

16.3

B A B

0.52

43.3

0.55

0.18

16.4

0.19

0.22

18.7

0.24


A

51.4

23.7

26.8

B

0.60

0.25

0.29

42 Rev.N

3HAC 9112-1

1 Description

1.8.5 Signals

1.8.5 Signals

A

B

Robot Type

IRB 2400/16

Axis

1

2

3


A

48.4

16.8

24.9

B A B

0.62

71.0

0.88

0.21

28.8

0.36

0.30

37.9

0.44


A

56.1

23.6

32.3

B

0.67

0.26

0.35

Description

Distance in degrees

Stop time (s)

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 9112-1 Rev.N

43

1 Description

1.8.5 Signals

44 Rev.N

3HAC 9112-1

2 Specification of Variants and Options

2.1.1 General


2.1 Introduction

2.1.1 General

The different variants and options for the IRB 2400 are described below.

The same numbers are used here as in the Specification form. For controller options, see Product specification - Controller IRC5 with FlexPendant, and for software options, see Product specification - Controller software IRC5/RobotWare.

2.1.2 Manipulator

Variants

Option

435-7

435-8

435-9

IRB Type Handling capacity (kg) / Reach (m)

IRB 2400/10 10/1.55

IRB 2400/16

16 (20 kg with some limitations, see chapter 1.4)/1.55

IRB 2400/L 7/1.80

Manipulator color

Option

209-1

209-2

209-4--192

Description

The robot is painted in color ABB Orange.

The robot is painted in white color.

The manipulator is painted with the chosen RAL-color.

3HAC 9112-1 Rev.N

45


2.1.2 Manipulator

Protection

Option Description

287-4 Standard

287-3 Foundry Robot adapted for foundry or other harsh environments.

Degree of protection as in chapter 1.3.2.

The manipulator is finished with a special coating. The connectors are designed for severe environments, and bearings, gears and other sensitive parts are highly protected.

The IRB 2400F/10 and IRB 2400F/16 have the FoundryPlus protection which means that the whole manipulator is IP67 classified and steam washable.

The robot is labeled with “Foundry” (IRB 2400F/L) or “Foundry Plus”

(IRB 2400F/10 and F/16).

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.

The robot is labeled with “Clean Room”.

Mounting position

Option

224-1

224-2

224-3

Description

Floor mounted

Inverted

Wall mounted a a. For 10 kg version, limited axis 1 rotation to ± 30° and reduced speed axis 1, 2 and 3 to 90°/s.

Application interface

Air supply and signals for extra equipment to upper arm.

For connection of 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.

A 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 upper arm.

Signals

Power

Air

23

10

1

50 V, 250 mA

250 V, 2 A

Max. 8 bar, inner hose diameter 8 mm

46 Rev.N

3HAC 9112-1


2.1.2 Manipulator

Option

218-8

218-6

Description

Integrated hose and cables for connection of extra equipment on the manipulator to the rear part of the upper arm.

Hose and cables for connection of extra equipment are extended to the wrist on the outside of the upper arm. Not possible on IRB 2400/L, option 435-9.

Application interface connection to

Option

16-1 Cabinet a

Description

The signals are connected to 12pole screw terminals, Phoenix

MSTB 2.5/12-ST-5.08, to the the controller.

Not together with option 218-3.

Connector kit 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.

Detached connectors, suitable to the connectors for the application interface and position switches.

The kit consists of connectors, pins and sockets.

Option

431-1

239-1

426-1

Description

For the connectors on the upper arm if application interface, option 218-8 or option 218-6.

For the connectors on the foot if connection to manipulator, option 16-2.

For connection to position switches and connection to manipulator, option 271-2 and option position switch(es).

3HAC 9112-1 Rev.N

47


2.1.2 Manipulator

Safety lamp

Option

213-1

Description

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.

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 - IRC5 with

FlexPendant and Application Manual EPS, art. No. 3HAC027709-001.

48 Rev.N

3HAC 9112-1


2.1.2 Manipulator

Working range limit - axis 1

To increase the safety of the robot, the working range of axis 1 can be restricted.

Option

28-1

Description

Axis 1

Two extra stops for restricting the working range. The stops can be

mounted within the area from 50° to 140°. See Figure 22.

Figure 22 Mounting area of the stops, axis 1.



Option

32-1

Description

Axis 2

Stop lugs for restricting the working range. Figure 23 illustrates the

mounting positions of the stops.

3HAC 9112-1

Figure 23 Mounting positions of the stops, axis 2.

Rev.N

49


2.1.3 Positioners



Option

34-1

Description

Axis 3

Equipment for electrically restricting the working range in increments of 5°

2.1.3 Positioners

General

Regarding positioners, see Product Specification 3HAC028283-001.

2.1.4 Track Motion

Track Motion type

Option

1000-5

1000-6

Type no AW for AW

Description

For IRB 1600/2400 robot, with a travel length of 1.7 m.

For for example material handling robot.

For IRB 1600/2400 robot, with a travel length of 1.7 m.

For AW robot with Marthon-pac or Bobbin holder.

Additional travel length

Option

1001-1

Description

(1-18) Add travel length

Note

Chose additional travel length in meter, above the min. length under Track Motion Type.

The selection 1 adds 1m travel length,

2 adds 2m travel length and so on.......

Example of ordering a track motion RTT, with a requested travel length of 7.5 m:

Track Motion Type

1000-5 RTT with Bobbin

6 1001-1 Add travel length

In this case, option 1000-5 specify a track motion with a travel length of 1.7 m, option 1001-1 adds 6 meters to that, ending up with a total travel length of 7.7 m.

50 Rev.N

3HAC 9112-1


2.2.1 Manipulator

Warranty

Option

438-1

438-2

438-4

438-5

438-6

438-8

Type

Standard Warranty

Standard + 12 months



Standard + 6 months

Stock Warranty

Description

Standard warranty is 18 months (1 1/2 years)

18 + 12 months (2 1/2 years)

18 + 18 months (3 years)

18 + 24 months (3 1/2 years)

18 + 6 months (2 years)

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).

2.2 Floor cables

2.2.1 Manipulator

Manipulator cable length

Option

210-2

210-3

210-4

210-5

Connection of Parallel communication

Lengths

7 m

15 m

22 m

30 m

Option

94-1

94-2

94-3

94-4

Lengths

7 m

15 m

22 m

30 m

3HAC 9112-1 Rev.N

51


2.2.2 Positioner

2.2.2 Positioner

Positioner cable 1

Option

1067-1

1067-2

1067-3

Positioner cable 2

Positioner cable type

Option

1068-1

1068-2

1068-3

Option

1048-1

Weld return cable

Option

1056-1

1056-2

1056-3

1056-4

1056-5

1056-6

Return cable

Option

1057-1

Lengths

7 m

10 m (Standard length)

15 m

Lengths

7 m

10 m (Standard length)

15 m

Type

Flexible

Lengths

7 m

7 m x 2

10 m

10 m x 2

15 m

15 m x 2

Description

Only available with one or two MTC 250/500/750/

2000/5000

Type Description

OKC T-connection Choose quantity, 1-2

52 Rev.N

3HAC 9112-1


2.3.1 DressPack

2.3 Process

2.3.1 DressPack

Welding torch package

Option

878-2

878-3

Process module

Option

768-1

768-2

768-5

Description

Self cooled torch, iSTM-ABIROB A 22 degrees

Water cooled torch, iSTM-ABIROB W 22 degrees


Empty cabinet small

See Product Specification - Controller IRC5 with

FlexPendant, chapter 2.2.1

Empty cabinet large See Product Specification - Controller IRC5 with


AWC / WeldGuide Only together with AristoMig 4000i/5000i, MigRob and TPS power sources.

Installation kit

Option

715-1

Type

Installation kit

Description

See Product Specification - Controller IRC5 with


3HAC 9112-1 Rev.N

53


2.3.2 Process equipment

2.3.2 Process equipment

Power source

Option

1029-13

1029-14

Type

AristoMig 4000i

AristoMig 5000i

Description

400 V including wirefeeder

Only together with option 878-2 or 878-3.

400 V including wirefeeder


Current/Hose set

Option

1030-4

1030-5

Type

7.5 m

10 m

Description

For external suspension mounting, not included.


Internal suspension mounting, hose package attatched to the robot base. Protective hose included.


Feed kit

Option

1033-2

1033-3

Type

Marathon Pac

Octagon

Bobbin

Description

Liner for 250 kg Marathon Pac. Plastic hood for round Maraton-Pac included.

A 15 kg bobbin holder on the robot.

Torch service

Option

1037-1

1037-2

1037-5

Type

ABB TSC

ABB TC96

BullsEye

Description

ABB Torch Service Center.

ABB Torch cleaner.

BullsEye stand alone.

54 Rev.N

3HAC 9112-1


2.3.3 AW Safety options

2.3.3 AW Safety options

Working area

Option

1072-1

1072-2

Operator panel

Option

1054-1

1054-2

1054-3

AW Safety interface

Option

1058-1

1058-2

Lightbeam

Option

1059-1

Type

One working area

Two working areas

Description


Operator panel 1 area

Operator panel 2 areas

For one working area

For two working areas.

2 x operators panel

2 areas

Two operator panels, one for each working area.

Type

Safety interface

Active relay

Description

SIB, requires options 735-3 and 735-4.

Active relay supervision (open relay).

Type

Lightbeam

Description

Qty 1 or 2, one working area requires one PC of ”two level light beams”.

Two working areas rerquire two PCs of “two level light beams”.

Gate switch

Option

1060-1

1060-2

Home position switch

Option

1061-1

3HAC 9112-1

Type

Gate switch

Gate switch/ ext. reset

Description

Type

Home position switch

Description

Home position switch for IRB 1600/2400, one working area.

Rev.N

55


2.3.4 Documentation

Station indication

Option

1062-1

Type

Station indication

Description

Station indication for IRB 1600/2400, two working areas.

Pre-reset unit

Option

1063-1

Type

Pre-reset unit

Description

Qty 1 or 2, one working area requires one PC of “Prereset”. Two working areas require two PCs of “Prereset”.

Activation unit

Option

1064-1

Type

Activation unit

Description

Qty 1 or 2, one requires one PC of “Activation unit”.

Two working areas require two PCs of “Activation unit”.

Extended EM stop

Option

1065-1


Extended EM stop Required when using external EM-stop push buttons and when ordering a dual arc system (two welding packages).

2.3.4 Documentation

DVD User Documentation

Option

808-1

Type

Documentation on

DVD

Description

See Product Specification - Robot User

Documentation

56 Rev.N

3HAC 9112-1

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, and Product specification - Controller software IRC5/RobotWare.

Robot Peripherals

• Track Motion

• Motor Units

3HAC 9112-1 Rev.N

57

3 Accessories

58 Rev.N

3HAC 9112-1

Index

A accessories

,

57

Active Brake System

,

14

active safety system ,

14

air supply ,

46

Application interface ,

46

connection to

,

47

AW Safety options ,

55

Activation unit

,

56

AW Safety interface

,

55

Extended EM stop ,

56

Gate switch

,

55

Home position switch ,

55

Lightbeam ,

55

Operator panel ,

55

Pre-reset unit

,

56

Station indication

,

56

Working area ,

55

C calibration

,

33

,

34

Collision detection ,

15

compact robot arm

,

15

Connector kit

,

48

cooling device ,

9

D design

,

15

Documentation

,

56

E

Electronically Stabilised Path

,

15

emergency stop

,

16

enabling device

,

16

equipment mounting

,

29

permitted extra load ,

29

extra equipment connections ,

46

F

Floor cables ,

51

Manipulator

,

51

Manipulator, cable length

,

51

Manipulator, cable length-position switches axis 1 ,

52

Manipulator, connection of Parallel communication

,

51

forklift

,

43

H hold-to-run control

,

16

humidity

,

18

I installation ,

17

Installation kit ,

53

Internal Safety Concept ,

16

inverted robot

,

17

L limitation ,

15

load

,

17

,

19

M maintenance

,

36

manipulator colors

,

45

mechanical interface

,

32

motion

,

37

mounting extra equipment ,

29

robot

,

19

mounting flange

,

32

moveable, mechanical, main axes

,

15

N noise level

,

9

O operating requirements

,

18

option Absolute Accuracy ,

34

options ,

45

P

Passive Safety System

,

15

payload ,

17

performance

,

41

Positioner

Positioner cable 1 ,

52

Positioner cable 2 ,

52

Positioner cable type

,

52

Return cable ,

52

Weld return cable ,

52

Positioners

,

50

positioning accuracy ,

35

Process

,

53

Process equipment

,

54

Current/Hose set ,

54

Feed kit

,

54

Power source ,

54

Sensors

,

55

Torch service ,

54

Process module ,

53

protection foundry ,

46

standard

,

46

protection standards ,

18

R range of movement working space

,

37

reduced speed ,

16

references

,

33

repeatability

,

41

3HAC 9112-1 Rev.N

59

Index

Robot Peripherals

,

57

robot versions ,

9

S safeguarded space stop ,

16

delayed ,

16

safety

,

13

Safety category 3

,

16

Safety lamp

,

48

safety lamp ,

16

Self Tuning Performance ,

15

Service

ABB Torch cleaner ,

54

ABB Torch Service Center

,

54

service ,

36

Service Information System ,

14

service information system ,

14

signal connections

,

46

space requirements ,

9

standards ,

13

structure ,

7

suspended robot

,

17

T temperature ,

18

Track Motion

,

50

type

,

50

Track motion RTT

Example of ordering

,

50

Travel length additional

,

50

troubleshooting

,

36

V

Variants

,

45

variants ,

45

W weight

,

9

Working range limit

Axis 1 ,

49

axis 2 ,

49

axis 3 ,

50

working space restricting

,

15

,

17

60 Rev.N

3HAC 9112-1

ABB AB

Robotics Products

S-721 68 VÄSTERÅS

SWEDEN

Telephone: +46 (0) 21 344000

Telefax: +46 (0) 21 132592

ABB IRB 2400/10 Product Specification

Product specification

Articulated robot

Product specification

Articulated robot

Overview

1 Description

√(

2 Specification of Variants and Options

3 Accessories

Related manuals

Table of contents

ABB IRB 2400/10 Product Specification

Product specification

Articulated robot

Product specification

Articulated robot

Overview

1 Description

√(

2 Specification of Variants and Options

3 Accessories

Related manuals

ABB

IRB 6400 M96

Haier

HGR2208-TU1

Haier

HGR-TFV1U1

Haier

HGR-TFV6U1

ABB

IRB 1400, 2400, 4400, 6600, 7600

Haier

HGR-T1

ABB

IRB 120

ABB Robotics

IRB 1200-5/0.9

ABB

IRB 340 M2000, M2004

ABB Robotics

IRB 1520ID

ABB

IRB 4400 - L10

ABB

IRC5 M2004

Table of contents