Product Specification IRB 2400 ABB Flexible Automation

Product Specification
IRB 2400
ABB Flexible Automation
Description
1 Description
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.
The robots with Foundry protection are designed for harsh environment and have
special surface treatment and paint for excellent corrosion protection. The connectors
are designed for severe environment, and bearings, gears and other sensitive parts are
high protected. The high degree of tightness makes the IRB 2400/10 and /16 steam
washable.
The robot is equipped with the operating system BaseWare OS. BaseWare OS controls
every aspect of the robot, like motion control, development and execution of
application programs communication etc. See Product Specification S4Cplus.
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
RobotWare Options.
Axis 4
Axis 5
Axis 6
Axis 3
Axis 2
Axis 1
Figure 1 The IRB 2400 manipulator has 6 axes.
Description
IRB 2400L
1225
870
290
65
360
260
180
150
855
251 138
176 268
1730
615
446
454
180
CL
100
600
305
723
R=76
R=448
444
R=347
A
123
389
A-A
A
R=330
Figure 2 View of the manipulator from the side, rear and above (dimensions in mm).
Description
Installation
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 load diagrams on
page 11.
Other equipment can be mounted on the upper arm, max. weight 11 or 12 kg, and on
the base, max. weight 35 kg. Holes for mounting extra equipment, see page 15.
The working range of axes 1-2 can be limited by mechanical stops and axis 3 by limit
switches. Position switches can be supplied on axis 1 for position indicator of
manipulator.
Operating requirements
Protection standards
IEC529
Standard
Manipulator
IP54
IRB 2400FL
Manipulator
Wrist
Connectors
IP55
IP67
IP67
Explosive environments
The robot must not be located or operated in an explosive environment.
Ambient temperature
Manipulator during operation
+5oC (41oF) to +45oC (113oF)
Complete robot during transportation and storage, -25oC (13oF) to +55oC (131oF)
for short periods (not exceeding 24 hours)
up to +70oC (158oF)
Relative humidity
Complete robot during transportation and storage Max. 95% at constant temperature
Complete robot during operation
Max. 95% at constant temperature
Description
Mounting the manipulator
Maximum load in relation to the base coordinate system.
Endurance load
in operation
IRB 2400L
Force xy
Force z floor mounting
Force z inverted mounting
Torque xy
Torque z
Max. load at
emergency stop
±1700 N
+4100 ±1100 N
-4100 ±1100 N
±2100 N
+4100 ±1400 N
-4100 ±1400 N
±3000 Nm
±450 Nm
±3400 Nm
±900 Nm
X
B
48
Z = centre line axis 1
280
B
D=18,5
Y
A
B-B
210
Z
0.5
D=18,5 (2x)
A
The same
dimensions
48
20
260
260
D=35
0.25
View from the bottom of the base
Figure 4 Hole configuration (dimensions in mm).
A-A
+0.039
-0
H8
(2x)
Description
Load diagrams
IRB 2400L Nominal performance
Z (mm)
600
500
1 kg
400
1.5 kg
300
2 kg
200
3 kg
100
4 kg
5 kg
L (mm)
65
100
200
300
400
Z = see the above diagram and the coordinate system in Product Specification S4Cplus
L = distance in X-Y plane from Z-axis to the centre of gravity
J = maximum own moment of inertia on the total handling weight = ≤ 0.012 kgm2
Figure 5 Maximum weight permitted for load mounting on the mounting flange at different positions
(centre of gravity).
Description
IRB 2400L Reduced performance
Z (mm)
600
1 kg
500
400
1.5 kg
2 kg
300
3 kg
200
4 kg
100
5 kg
6 kg
7 kg
L (mm)
65
100
200
300
400
Z = see the above diagram and the coordinate system in Product Specification S4Cplus
L = distance in X-Y plane from Z-axis to the centre of gravity
J = maximum own moment of inertia on the total handling weight = ≤ 0.012 kgm2
Figure 6 Maximum weight permitted for load mounting on the mounting flange at different positions
(centre of gravity).
Mounting equipment
The robot is supplied with tapped holes on the upper arm and on the base for mounting
extra equipment.
300
IRB 2400L
A
A
400
Max. 10kg
M8 (2x)
Depth 14
M5 (2x)
Depth 9
D
D
135
150
Max. 1kg
37
67
30
37
D=200
170
62
70 (2x)
470
400
D-D
A-A
M8 (3x) R=77
Depth 16
CL
Max. 35 kg total
C
120o (3x)
B
D=50
M8 (3x) R=92
Depth 16
150
38o
120o (3x)
B
C
C-C
The rear side of the manipulator
38o
B-B
Figure 9 The shaded area indicates the permitted positions (centre of gravity) for any extra equipment
mounted in the holes (dimensions in mm).
IRB 2400L
A
o
45
D=6
+0.012
-0
H7
∅ 0.05
B
B
9
A
90o (4x)
6
A-A
h8
+0
-0.039
D=25 -0
R=20
D=50
+0.027
H8
M6 (4x)
1.5 Robot Motion
IRB 2400L
The working area is the same for both floor and inverted mounting
Type of motion
Range of movement
Axis 1
Axis 2
Axis 3
Axis 4
Axis 5
Axis 6
+180o
+110o
+65o
+185o
+115o
+400o
Rotation motion
Arm motion
Arm motion
Wrist motion
Bend motion
Turn motion
-180o
-100o
-60o
-185o
-115o
-400o (Unlimited as optional)
to
to
to
to
to
to
3421
Z
Wrist centre
Pos 0
Pos 1
Axis 4
Axis 3
1702
+
+
+
Axis 5
Pos 6
R=
+
Axis 2
+
Axis 6
521
2885
Pos 2
Pos 5
X
Axis 1
Pos 3
560
Pos 4
100
1810
R=
570
0
40
=
R
Pos 4
Positions at wrist centre (mm)
pos.
x
0
1
2
3
4
5
6
970
404
602
1577
400
-1611
-115
z
1620
2298
745
-246
-403
623
1088
Figure 12 The extreme positions of the robot arm (dimensions in mm).
Angle (degrees)
pos.
axis 2
axis 3
0
1
2
3
4
5
6
0
0
0
110
110
-100
-100
0
-60
65
-60
24.5
-60
65
Performance according to ISO 9283
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 = 0.06 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 the position:
0.2 - 0.35 sec. (on 35 mm linear path)
0.4 - 0.6 sec. (on 350 mm linear path)
The above values are the range of average test-results from a number of robots. If
guaranteed values are required, please contact your nearest ABB Flexible Automation
Centre.
Velocity
Versions:
Axis no. 1
2
3
4
5
6
IRB 2400L
150o/s
150o/s
150o/s
360o/s
360o/s
450o/s
There is a supervision to prevent overheating in applications with intensive and
frequent movements.
Resolution
Approx. 0.01o on each axis.
1.6 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.
2 Specification of Variants and Options
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 S4Cplus, and for software options, see Product Specification
RobotWare Options.
1 MANIPULATOR
VARIANTS
Standard
(requires option 035)
Foundry
(requires option 036)
021 IRB 2400L
IRB 2400FL
IRB 2400 Application Version - Handling capacity
Application:
F
Reach:
Handling capacity:
Robot adapted for foundry environments.
Degree of protection as in chapter 1.3.
The manipulator is finished with a special coating.
Specifies the max. reach at the wrist centre.
Specifies the nominal handling capacity.
Manipulator colour
330 The manipulator is painted with ABB orange.
353 The manipulator is painted with ABB orange Foundry.
331- Colours according to RAL-codes. Not available for Foundry protection
348
Protection
035 Standard
036 Foundry
Robot adapted for foundry environments. Degree of protection as in Chapter 1.3.
The manipulator is specially painted and finished.
Only available colour is ABB orange Foundry.
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
(Available for options 041 and 042)
041 Integrated hose and cables for connection
of extra equipment on the manipulator to
the rear part of the upper arm.
042 Hose and cables for connection of extra
equipment are extended to the wrist on
the outside of the upper arm. Not possible
on IRB 2400L, option 021.
043 Integrated wire feed cabling
Control signals:
16 signals, 49 V, 500 mA
Connector on upper arm housing: Burndy 23-pin UTG 618-23PN
Connector on robot base: Burndy 23-pin socket UT001823SHT
Power signals:
12 signals, 300 V, 4 A
Connector on upper arm housing: Burndy 12-pin socket UTG 614-12SN
Connector on robot base: Burndy 12-pin UT001412PHT
Not possible on IRB 2400/10 and /16.
Connection to
056 Manipulator
The signals are connected directly to the manipulator base to one 40-pins Harting
connector.
057 Cabinet
The signals are connected to 12-pole screw
terminals, Phoenix MSTB 2.5/12-ST-5.08,
to the the controller.
Connection to cabinet (Cable lengths)
675
676
677
678
7m
15m
22m
30m
If 042
If 057
EQUIPMENT
691 Safety lamp
A safety lamp with an orange fixed light can be mounted on the manipulator.
The lamp is active in MOTORS ON mode.
The safety lamp is required on a UL/UR approved robot.
058 Dressing
Mounting of extra equipment, e.g. tool system on robot before delivery, ordered from
ABB Flexible Automation/Department U.
POSITION SWITCH
Switches indicating the position of axis 1.
A design with two stationary or 1, 2 or 3 adjustable switches is available. The switches
are manufactured by Telemecanique or Burnstein, and of type forced disconnect.
Note The switches are not recommended to be used in severe environment with sand or
chips.
Switches axis 1 (see Figure 14)
069 One switch
070 Two switches
The first
switch
Controller
The second
switch
Controller
The third
switch
Controller
071 Three switches
Figure 14 Connections of the switches
072 Two switches, axis 1, stationary (see Figure 15)
The two switches divide the working area of
axis 1 into two fixed working zones, approx. 175°
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.
Controller
Figure 15 Connections of the switches.
Connection to
075 Manipulator
Connection on the manipulator base with one FCI 23-pin connector.
076 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-ST5.08
Cable lengths
078 7m
079 15m
080 22m
081 30m
WORKING RANGE LIMIT
To increase the safety of the robot, the working range of axes 1, 2 and 3 can be restricted
061 Axis 1
Two extra stops for restricting the working range.
The stops can be mounted within the area
from 50o to 140o. See Figure 16.
140o
50o
50o
140o
Figure 16
062 Axis 2
Stop lugs for restricting the working range.
Figure 17 illustrates the mounting positions
of the stops.
20o
40o
50o
70o
80o
Figure 17
063 Axis 3
Equipment for electrically restricting the working range in increments of 5o.
26
Product Specification IRB 2400 M2000
Accessories
3 Accessories
There is a range of tools and equipment available, specially designed for the robot.
Basic software and software options for robot and PC
For more information, see Product Specification S4Cplus, and Product Specification
RobotWare Options.
Robot Peripherals
- Track Motion
- Tool System
- Motor Units

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