irb 260 product specifications 3hac025046-001_revc_en_library

5/20/2018 IRB 260 Product Specifications 3HAC025046-001_revC_en_library

Product specification

Articulated robot

IRB 260 - 30/1.5M2004


Product specification

Articulated robot3HAC025046-001

Rev.CIRB 260 - 30/1.5

M2004


The information in this manual is subject to change without notice and should not be construedas a commitment by ABB. ABB assumes no responsibility for any errors that may appear inthis 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, fit-ness 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 ABBs written per-mission, and contents thereof must not be imparted to a third party nor be used for any unau-

thorized 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 ProductsSE-721 68 Vsters

Sweden


Table of Contents

3HAC 025046-001 Rev.C 3

Overview 5

1 Description 7

1.1 Structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .71.1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7

1.1.2 The robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9

1.1.3 Definition of version designation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9

1.2 Safety/Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

1.2.1 Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12

1.3 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15

1.3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15

1.3.2 Operating requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15

1.3.3 Mounting the manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16

1.4 Calibration and References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18

1.4.1 Fine calibration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .181.5 Load diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19

1.5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19

1.5.2 Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20

1.5.3 Maximum load and moment of inertia. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20

1.6 Mounting of equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21

1.7 Robot Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23

1.7.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23

1.7.2 Performance according to ISO 9283 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24

1.7.3 Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24

1.8 Customer connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25

1.8.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25

1.9 Maintenance and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26

1.9.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26

2 Specification of Variants and Options 27

2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27

2.1.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27

2.1.2 Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27

2.1.3 Position Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29

2.1.4 Working Range Limit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30

2.1.5 Warranty. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31

2.1.6 Floor Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31

2.1.7 Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32

3 Accessories 33


Table of Contents

4 Rev.C 3HAC 025046-001


Overview

3HAC 025046-001 Rev.C 5

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 on to the robotwrist

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

Complementary Product specifications

Revision Description

Revision 1 Power consumption and ISO 9283 datas added.

Revision B - Footnote added to Pose accuracy

- Changed text for Maintenance

Revision C - Changes in chapter Standards

- Direction of forces

- Warranty information for load diagrams

Productspecification

Description

Controller IRC5 with FlexPendant, 3HAC021785-001

Controller SoftwareIRC5

RobotWare 5.09, 3HAC022349-001

Robot User Documen-tation

IRC5 and M2004, 3HAC024534-001


Overview

6 Rev.C 3HAC 025046-001


1 Description

1.1.1 Introduction

3HAC 025046-001 Rev.C 7

1 Description

1.1 Structure1.1.1 Introduction

Robot family

The IRB 260 is ABB Robotics latest generation of 4-axis packing and material

handling robot, designed with a focus on a high production capacity, a short cycle

time at a high payload, a large working envelope and combined with the very high

uptime, which is significant for ABBs robots.

The modular design of the robot is based on proven solutions, the Handling capacity

is 30 kg and the Reach is 1.5 m.

Customer connections as power, signals and air are integrated in the robot, from the

robot base to connections at the robot tool flange.

IRC5 and RobotWare

The robot is equipped with the IRC5 controller and robot control software,

RobotWare. RobotWare supports every aspect of the robot system, such as motion

control, development and execution of application programs, communication etc.

See Product specification - Controller IRC5 with FlexPendant

Safety

Safety standards require that the controller is connected to the robot.

Additional functionality

For additional functionality, the robot can be equipped with optional software for

application support. For a complete description of optional software, see the Product

specification - Controller software IRC5/RobotWare Options.


1 Description

1.1.1 Introduction

8 Rev.C 3HAC 025046-001

Manipulator axes

Figure 1 The IRB 260 manipulator has 4 axes.

+

-

-+

-

+

-+

Axis 6

Axis 2

Axis 1

Axis 3


1 Description

1.1.2 The robot

3HAC 025046-001 Rev.C 9

1.1.2 The robot

Standard

1.1.3 Definition of version designation

IRB 260 Mounting

Handling capacity/ Reach

Manipulator weight

Other technical data

Power consumption at max load

Path E1-E2-E3-E4 in the ISO Cube (see Figure 2).

General Packing movements at max. speed.

Robot type Handling capacity (kg) Reach (m)

IRB 260 30 kg 1.526 m

Prefix Description

Mounting - Floor-mounted manipulator

Handling capacity yyy Indicates the maximum handling capacity (kg)

Reach x.x Indicates the maximum reach at wrist center (m)

Robot type Handling capacity (kg) Reach (m) Weight (kg)

IRB 260 30 kg 1.526 m 340 kg

Data Description Note

Airborne noise level The sound pressure level outside

the working space

< 70 db (A) Leq. (acc.to Machinery

directive 89/392 EEC)

ISO Cube Speed [mm/s] Power consumption [kW]

Max. 0.71

1000 0.55

500 0.46

100 0.41

General Packing movements Power consumption [kW]

Max. speed 0.93


1 Description


10 Rev.C 3HAC 025046-001

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

E1 E2

P3020P

P40

10P

E4 3

E

630 mm


1 Description


3HAC 025046-001 Rev.C 11

Dimensions IRB 260

Figure 3 View of the IRB 260 manipulator from the front, the side and above (dimensions in mm). Allow

200 mm behind the manipulator base for cables.

Pos Description

A At max. working range axis 3

B Radius for axis 3 motor

CL

100

474

650 120

705

181

1498

1688(A)

615

305

Axis 1

599444389

R=451 (B)


1 Description

1.2.1 Standards

12 Rev.C 3HAC 025046-001

1.2 Safety/Standards

1.2.1 Standards

The robot complies fully with the health and safety standards specified in the EECs

Machinery Directives.

The robot conforms to the following standards:

Safety

The robot controller is designed with absolute safety in mind. It has a dedicated

safety system based on a two-channel circuit which is continuously monitored. If any

component fails, the electrical power supplied to the motors is cut off and the brakes

engage.

Standard Description

EN ISO 12100 -1 Safety of machinery, terminology

EN ISO 12100 -2 Safety of machinery, technical specifications

EN 954-1 Safety of machinery, safety related parts of control systems

EN 60204 Electrical equipment of industrial machines

EN ISO 60204-1:2005 Safety of machinery - Electrical equipment of machines

EN ISO 10218-1:2006a

a. There is a deviation from paragraph 6.2 in that only worst case stop distances and

stop times are documented.

Robots for industrial environments - Safety requirements

EN 61000-6-4 (option) EMC, Generic emission

EN 61000-6-2 EMC, Generic immunity


IEC 60529 Degrees of protection provided by enclosures


ISO 9787 Manipulating industrial robots, coordinate systems andmotions


ANSI/RIA 15.06/1999 Safety Requirements for Industrial Robots and RobotSystems

ANSI/UL 1740-1998 (option) Safety Standard for Robots and Robotic Equipment

CAN/CSA Z 434-03 (option) Industrial Robots and Robot Systems - General Safety

Requirements


1 Description

1.2.1 Standards

3HAC 025046-001 Rev.C 13

Safety function Description

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 ONis then prevented and the faulty section is indicated. The executingcircuits are continuously monitored.This complies with category 3 of EN 954-1, Safety of machinery - safety

related parts of control systems - Part 1.

Selecting the

operating mode

The robot can be operated either manually or automatically. In manual

mode, the robot can only be operated via the FlexPendant, that is notby any external equipment.

Reduced speed In manual mode, the speed is limited to a maximum of 250 mm/s (600inch/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 switchwith three positions, meaning that all robot movements stop wheneither the enabling device is pushed fully in, or when it is released

completely. This makes the robot safer to operate.An additional enabling device can be connected to the safety system,for two operator safety.

Safe manualmovement

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

Over-speedprotection

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

Emergency stop There is one emergency stop push button on the controller and anotherone on the FlexPendant. Additional emergency stop buttons can beconnected to the robots safety chain circuit.

Protective stop The controller has a number of electrical inputs which can be used toconnect external safety equipment, such as safety gates and lightcurtains. This allows the robots safety functions to be activated both by

peripheral equipment and by the robot itself.

Delayed protective

stop

A delayed stop gives a smooth stop. The robot stops in the same way

as at a normal program stop with no deviation from the programmedpath. After approximately 1 second the power supplied to the motors iscut off.

Collision detection In case of an unexpected mechanical disturbance like a collision,

electrode sticking, etc., the robot will stop and then slightly back off

from its stop position.

Restricting theworking space

SoftwareThe movement of each axis can be restricted.

HardwareLimit switches can be connected to the robots safety chain circuit.

Hold-to-run control Hold-to-run means that you must depress the FlexPendant startbutton and another button in order to move the robot. When the hold-to-run button is released the robot will stop. The hold-to-run function

makes program testing safer. At reduced speed it can be activated/deactivated by a system parameter.

Fire safety The control system complies with ULs (Underwriters Laboratories Inc.)requirements for fire safety.


1 Description

1.2.1 Standards

14 Rev.C 3HAC 025046-001

Safety lamp As an option, a safety lamp mounted on the manipulator can beconnected. The lamp is activated when the controller is in the

MOTORS ON state.

MultiMove When several robots are connected to one Control Module, all theserobots are regarded as one robot from the safety systems point of view.

When in manual mode all coordinated robots can be joggedsimultaneously as well as only one robot or other mechanical unit at atime can be jogged, selected from the FlexPendant.

Safety function Description


1 Description

1.3.1 Introduction

3HAC 025046-001 Rev.C 15

1.3 Installation

1.3.1 Introduction

General

IRB 260 is designed for floor mounting. An end effector with max. weight of 30 kg

including payload, can be mounted on the mounting flange (axis 6). See Load

diagrams for IRB 260 generation robots in chapter 1.5 Load diagram.

Working Range

For axis 1, the working range can be limited by mechanical stops and the position

indication can be done by position switches.

1.3.2 Operating requirements

Protection standards

Explosive environments

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

Ambient temperature

Relative humidity


IP67 Manipulator

Description Temperature

Manipulator during operation + 5C (+ 41F) to + 45C (+ 113F)

Complete robot during transportation and storage - 25C (- 13F) to + 55C (+ 131F)

for short periods not > 24 hours:

+ 70C (+ 158F)

Description Relative humidiy

Complete robot during operation, transportation andstorage

Max. 95% at constant temperature


1 Description

1.3.3 Mounting the manipulator

16 Rev.C 3HAC 025046-001


Maximum Load

Maximum load in relation to the base coordinate system.

Figure 4 Direction of forces.

Note regarding Mxyand Fxy

The bending torque (Mxy) can occur in any direction in the XY-plane of the base

coordinate system.

The same applies to the transverse force (Fxy).

Endurance load in operation Max. load at emergency stop

Force xy 1400 N 2900 N

Force z + 3500 N 1000 N + 3500 N 2300 N

Torque xy 2100 Nm 3900 Nm

Torque z 650 Nm 950 Nm

X

Y

Torque (M )xy xy

Force (F )xy xy

Force (F )z z

Torque (M )z z


1 Description


3HAC 025046-001 Rev.C 17

Fastening holes robot base

Figure 5 Hole configuration (dimensions in mm).

Pos Description

A Z=center axis 1

B The same dimensions

C View from the bottom of the base

280

210

260 260

0.5D=18,5

D=18,5 (2x)

0.25D=35

+0.039-0 H8 (2x)

(A)

(B)

(C)

A

A

B

B

Y

X

Z

A-A

B-B

48

48

20


1 Description

1.4.1 Fine calibration

18 Rev.C 3HAC 025046-001

1.4 Calibration and References

1.4.1 Fine calibration

General

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

manual - Calibration Pendulum.

Figure 6 All axes in zero position.

Calibration

Axis 6

Axis 2

Axis 1

Axis 3

Calibration Position

Calibration of all axes All axes are in zero position

Calibration of axis 1 and 2 Axis 1 and 2 in zero position

Axis 3 to 6 in any position

Calibration of axis 1 Axis 1 in zero position

Axis 2 to 6 in any position


1 Description

1.5.1 Introduction

3HAC 025046-001 Rev.C 19

1.5 Load diagram

1.5.1 Introduction

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

It is very important to always define correct actual load data and correctpayload of the robot. Incorrect definitions of load data can result inoverloading of the robot.

Robots running with incorrect load data and/or with loads outside loaddiagram will not be covered by the robot warranty.


1 Description

1.5.2 Diagram

20 Rev.C 3HAC 025046-001

1.5.2 Diagram

IRB 260-30/1.5

Figure 7 Maximum permitted load mounted on the robot tool flange at different positions (center of

gravity).

1.5.3 Maximum load and moment of inertia

Load in kg, Z and L in m and J in kgm2.

0,00

30 kg

25 kg

20 kg

15 kg

10 kg

Z(m)

0,10

0,20

0,30

0,40

0,50

0,60

0,70

0,80

0,000,10 0,20 0,30

L (m)

0,40

Axis Maximum moment of inertia

6 Ja6 = Load x L2+ J0Z 3.75 kgm2


1 Description


3HAC 025046-001 Rev.C 21

1.6 Mounting of equipment

General

The robot is supplied with tapped holes on the base for mounting of extra equipment.

Figure 8 The shaded area indicates the permitted positions (center of gravity) for extra equipment

mounted in the holes (dimensions in mm).

Pos Description

A M8 (3x) Depth 16 mm, R=77

B M8 (3x) Depth 16 mm, R=92

C Max. 35 kg total

D The rear side of the manipulator

(B)

B

B

C

C

150D=50

(C)

(A)

120 (3x)

38

C-C

120 (3x)

(A)

38

B-B


1 Description


22 Rev.C 3HAC 025046-001

Robot tool flange

Figure 9 Robot tool flange (dimensions in mm).

A

A

B

B

B

J

D

C

A-A

11

B-B

19

1.6

1,5x45151.6A

4

+0,151,5 +0,05

3.2

100h8

14(6x)

10 35

0.03 CD

800-0,2

86H7

2.5

8 H7 8 0.04 A

(50)

1.6

30

10

60

80

90

1x45

50 H7

M8(6x)

0.02A

16

0.02A


1 Description

1.7.1 Introduction

3HAC 025046-001 Rev.C 23

1.7 Robot Motion

1.7.1 Introduction

Type of Motion

Figure 10 The extreme positions of the robot armspecified at the tool flange center (dimensions in mm).

Axis Type of motion Range of movement

1 Rotation motion + 180to - 180

2 Arm motion + 85 to - 28

3 Arm motion + 119 to - 17

6 Turn motion + 400to - 400 Default

+ 150 Rev.ato - 150 Rev. Max.b

a. Rev. = Revolutions

b. The default working range for axis 6 can be extended by changing parameter val-

ues in the software. Option Advanced Motion required.

Pos Description

A Mechanical stop

B Max. working stopC Tool flange center

CL

531.5 (A)

448.5 (B)

543

586

6071526

Axis 1

(C)

4841

155


1 Description

1.7.2 Performance according to ISO 9283

24 Rev.C 3HAC 025046-001

1.7.2 Performance according to ISO 9283

General

At rated maximum load and 1.6 m/s velocity on the inclined ISO test plane,0.63 m cube with all four axes in motion.

The above values are the range of average test results from a number of robots.

1.7.3 Velocity

Maximum axis speeds

There is a supervision function to prevent overheating in applications with intensive

and frequent movements.

Axis Resolution

Approx. 0.01 on each axis.

Description Values

Pose repeatability, RP (mm) 0.03

Pose accuracy, APa(mm)

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 duringprogram execution.

0.06

Linear path repeatability, RT (mm) 0.11

Linear path accuracy, AT (mm) 1.56

Minimum positioning time, to within 0.2 mm of the position (s) 0.22

Axis No. IRB 260 - 30/1.52

1 153/s

2 175/s

3 153/s

6 342/s


1 Description

1.8.1 Introduction

3HAC 025046-001 Rev.C 25

1.8 Customer connections

1.8.1 Introduction

General

The Customer connection is an option, the cables and the hosings for them are

integrated in the robot and the connectors are placed at axis 6.

Power, Signals and Air (CP/CS/AIR)

For further information of the customer connection, see Specification of Variants and

Options, Application interface Connection type.

Specification

Type Application Specification Connectiontype

SouriauArticle No.

Comment

Power (CP) Utility Power 10xAWG24

(250V/2A)

Socket

Connector10p,Bulkhead

UTOW

71210SH

Shell

size 12

Signals(CS)

ParallelCommunicati

on

23xAWG26 SocketConnector

26p,Bulkhead

UTOW1626SH

Shellsize 16

Air (AIR) Utility Air Max. 8 bar

DY/DI = 12/8 mm

R 1/4


1 Description

1.9.1 Introduction

26 Rev.C 3HAC 025046-001

1.9 Maintenance and Troubleshooting

1.9.1 Introduction

General

The robot requires only minimum 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 modulardesign makes it easy to change

It has a program memory Battery low alarm

MaintenanceThe maintenance intervals depend on the use of the robot, the required maintenance

activities also depend on selected options. For detailed information on maintenance

procedures, see Maintenance section in the Product Manual.


2 Specification of Variants and Options

2.1.1 General

3HAC 025046-001 Rev.C 27


2.1 Introduction2.1.1 General

The different variants and options for the IRB 260 are described in the following

sections.

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 Options.

2.1.2 Manipulator

Variant

Manipulator color

Application interface Connected to

Media outlet

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

435-58 260 30 1.52

Option Description Note

209-1 ABB Standard The robot is painted in ABB orange.

209-3 ABB White The robot is painted in white color.

209-3 --192 RAL code The robot is painted in chosen RAL - color.

Option Description

16-1 Cabineta

a.Note! In a MultiMove application, additional robots have no Control Module. The

screw terminal 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.

The signals are connected to 12-pole screw

terminals, Phoenix MSTB 2.5/12-ST-5.08, to theControl Module.

16-2 Manipulator The signals are connected directly to themanipulator base in one 40-pins Harting

connector.

Option Type Description

218-11 Parallel and Air ataxis 6

Includes Customer Power (CP),Customer Signals (CS) and

one Air (AIR) inner diameter 8 mm.



2.1.2 Manipulator

28 Rev.C 3HAC 025046-001

Connector kits - Upper arm

Equipment


431-1 Upper arm - One UTOW Pin Connector 10p Bayonet,Shell Size 12, Souriau UTOW61210PH

- One Skrink Boot Adapter, Shell Size 12,

Souriau UTO12AD

- One UTOW Pin Connector 26p Bayonet,Shell Size 16, Souriau UTOW61626PH

- One Shrink Boot Adapter, Shell Size 16,Souriau UTO16AD


213-1 Safety lamp A safety lamp with an orange fixed light can bemounted on the manipulator. The lamp is activein MOTORS ON mode. The safety lamp is

required on a UL/UR approved robot.



2.1.3 Position Switches

3HAC 025046-001 Rev.C 29

2.1.3 Position Switches

General

Position switches indicating the position of axis 1. Rails with separate adjustablecams are attached to the manipulator. The cams, which have to be adapted to the

switch function by the user, can be mounted in any position in the working range for

each switch. No machining operation of the cams is necessary for the adaptation,

simple hand tools can be used.

Position switches Axis 1

For axis 1, there are three redundant position zones available, each with two indepen-

dent switches and cams.

Each position zone consists of two switches mechanically operated by separate cams.

Each switch has one normally open and one normally closed contact. The design and

components fulfill the demands to be used as safety switches. These options may

require external safety arrangements, for example light curtains, photocells or con-

tact mats.

The switches can be connected either to the manipulator base or to the controller.

Position switch Connection to

For cable length position switches axis 1 see chapter 2.1.6 Floor Cables.

Option Name Description

25-3 Three Three redundant position zones are available,

each with two independent switches and cams.

Option Name Description

271-2 Manipulator The signals are connected directly on the robot

base with one Souriau 32-pin connector.

271-1 Cabineta

a.Note! In a MultMove 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.

The signals are connected to 12-pole screw

terminals, Phoenix MSTB 2.5/12-ST-5.08 in the

cabinet.



2.1.4 Working Range Limit

30 Rev.C 3HAC 025046-001

2.1.4 Working Range Limit

Work range limit Axis 1

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

Figure 11 Mounting area of the stops.


28-1 Axis 1 Two extra stops for restricting the working range.

The stops can be mounted within the areafrom 50to 140.

See Figure 11.

50

50

140

140

C RobotL



2.1.5 Warranty

3HAC 025046-001 Rev.C 31

2.1.5 Warranty

General

For complete robot including the control cabinet.

2.1.6 Floor Cables

Manipulator cable length

Connection of standard

Cable length Position switches Axis 1


438-1 Standard Warranty Standard warranty is 18 months (1 1/2 years)

438-2 Standard + 12 months 18 + 12 months (2 1/2 years)

438-4 Standard + 18 months 18 + 18 months (3 years)

438-5 Standard + 24 months 18 + 24 months (3 1/2 years)

438-6 Standard + 6 months 18 + 6 months (2 years)

438-8 Stock Warranty 18 months standard warranty. Warranty

period starts automatically 6 months afterdelivery, or can be activated earlier at com-missioning.

Option Lengths

210-2 7 m

210-3 15 m

210-4 22 m210-5 30 m

Option Lengths

94-1 7 m

94-2 15 m

94-3 22 m

94-4 30 m

Option Lengths

273-1 7 m

273-2 15 m

273-3 22 m

273-4 30 m



2.1.7 Documentation

32 Rev.C 3HAC 025046-001

2.1.7 Documentation

CD User Documentation


808-1 Documentation on CD See Product specification Robot User Documentation


3 Accessories

3HAC 025046-001 Rev.C 33

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 Options.

Robot Peripherals Track Motion

Motor Units


3 Accessories

34 Rev.C 3HAC 025046-001


Index

3HAC 025046-001 Rev.C 35

A

accessories, 33

C

colours, 27cooling device, 9

H

hole configuration, 17humidity, 15

I

installation, 15Internal Safety Concept, 15

L

limit switches, 29

load, 15, 16M

maintenance, 26manipulator colour, 27mechanical interface, 22motion, 23mounting

robot, 16mounting flange, 22

N

noise level, 9

O

operating requirements, 15options, 27

P

payload, 15position switches, 29protection standards, 15

R

range of movement, 23Robot Peripherals, 33robot tool flange, 22robot versions, 9

S

safety, 12safety lamp, 28service, 26space requirements, 9standards, 12structure, 7

T

temperature, 15troubleshooting, 26

V

variants, 27

W

working spacerestricting, 30


Index

36 Rev.C 3HAC 025046-001


ABB ABRobotics ProductsS-721 68 VSTERSSWEDENTelephone: +46 (0) 21 344000Telefax: +46 (0) 21 132592

3HAC0

25046-00

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