ABB Robotics IRB 1200 Product Specification Download | Manualshive

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1.6 Calibration

1.6.1 Fine calibration

General

Fine calibration is made by moving the axes to a fixed position on the frame. For
detailed information on calibration of the robot see

Product manual - IRB 1200

.

(A)

(D)

(E)

(F)

(C)

(B)

xx1300000365

Description

Posi-
tion

Description

Posi-
tion

Axis 2

B

Axis 1

A

Axis 4

D

Axis 3

C

Axis 6

F

Axis 5

E

Continues on next page

36

Product specification - IRB 1200

3HAC046982-001 Revision: G

© Copyright 2017 ABB. All rights reserved.

1 Description

1.6.1 Fine calibration

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Summary of Contents for IRB 1200

Page 1: ...ROBOTICS Product specification IRB 1200 ...

Page 2: ...Trace back information Workspace R17 2 version a19 not checked in Published 2017 10 17 at 04 42 58 Skribenta version 5 1 011 ...

Page 3: ... specification IRB 1200 5 0 9 IRB 1200 5 0 9 type A IRB 1200 5 0 9 type B IRB 1200 7 0 7 IRB 1200 7 0 7 type A IRB 1200 7 0 7 type B Document ID 3HAC046982 001 Revision G Copyright 2017 ABB All rights reserved ...

Page 4: ... 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 Keep for future reference Additional copies of this manual may be obtained from ...

Page 5: ...for fitting extra equipment 36 1 6 Calibration 36 1 6 1 Fine calibration 37 1 6 1 1 Absolute Accuracy calibration 39 1 7 Maintenance and troubleshooting 39 1 7 1 Introduction to maintenance and trouble shooting 40 1 8 Robot motion 40 1 8 1 Working range and type of motion 43 1 8 2 Performance according to ISO 9283 44 1 8 3 Velocity 45 1 8 4 Stopping distance time 46 1 9 Customer connections 49 2 S...

Page 6: ...This page is intentionally left blank ...

Page 7: ...onnel References Document ID Reference 3HAC047400 001 Product specification Controller IRC5 IRC5 with main computer DSQC1000 3HAC048264 001 Product specification Controller software IRC5 IRC5 with main computer DSQC1000 and RobotWare 5 6x 3HAC050945 001 Product specification Controller software IRC5 IRC5 with main computer DSQC1000 and RobotWare 6 3HAC046983 001 Product manual IRB 1200 3HAC035738 ...

Page 8: ...R17 1 The following updates are done in this revision Added the standard IEC 61340 5 1 2010 see Applicable standards on page 17 A warning label about CP CS connection provided on the tubular housing See Customer connections on page 46 Information about Type B robots supporting SafeMove 2 added Absolute Accuracy calibration added Restriction of load diagram added F Published in release 17 2 The fol...

Page 9: ... Type B has the bushings for installation of calibration tools too The difference between IRB 1200 Type A and IRB 1200 Type B is that Type B also supports SafeMove 2 See Type B of IRB 1200 on page 9 How to know which type the robot is The type label on the base of the robot tells if the robot is calibrated with Axis Calibration Those robots are named IRB 1200 Type A Note If no type label attached ...

Page 10: ...nce work possible to perform without cracking the paint The robot is painted with four layers of polyurethane paint The last layer being a varnish over labels in order to simplify cleaning The paint has been tested regarding outgassing of Volatile Organic Compounds VOC and been classified in accordance with ISO 14644 8 Classification of airborne molecular contamination see below Outgassing amount ...

Page 11: ...s joints or other unprotected surfaces Under these circumstances it is recommended to add rust inhibitor to the fluid or take other measures to prevent potential rust formation on the mentioned The entire robot is IP67 compliant according to IEC 60529 from base to wrist which means that the electrical compartments are sealed against water and solid contaminants Among other things all sensitive par...

Page 12: ...ot manipulator and controller Additional functionality For additional functionality the robot can be equipped with optional software for application support for example gluing and 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 Manip...

Page 13: ...cription Posi tion Axis 2 B Axis 1 A Axis 4 D Axis 3 C Axis 6 F Axis 5 E Product specification IRB 1200 13 3HAC046982 001 Revision G Copyright 2017 ABB All rights reserved 1 Description 1 1 1 Introduction to structure Continued ...

Page 14: ...ing space Machinery directive 2006 42 EG The sound pressure level outside Airborne noise level Power consumption Path E1 E2 E3 E4 in the ISO Cube maximum load Power consumption kW Type of movement IRB 1200 7 0 7 IRB 1200 5 0 9 0 39 kW 0 45 kW ISO Cube Max velocity IRB 1200 7 0 7 IRB 1200 5 0 9 Robot in 0 degree position 0 10 kW 0 10 kW Brakes engaged 0 19 kW 0 18 kW Brakes disengaged xx0900000265 ...

Page 15: ...tion Minimum turning radius axis 4 R 79 mm A Minimum turning radius axis 3 R 139 mm B Minimum turning radius axis 1 R 138 mm C Valid for option Robot cabling routing 966 1 From below D Continues on next page Product specification IRB 1200 15 3HAC046982 001 Revision G Copyright 2017 ABB All rights reserved 1 Description 1 1 2 The robot Continued ...

Page 16: ...scription Pos Minimum turning radius axis 4 R 79 mm A Minimum turning radius axis 3 R 111 mm B Minimum turning radius axis 1 R 138 mm C Valid for option Robot cabling routing 966 1 From below D 16 Product specification IRB 1200 3HAC046982 001 Revision G Copyright 2017 ABB All rights reserved 1 Description 1 1 2 The robot Continued ...

Page 17: ...and related test methods ISO 9283 1998 Classification of air cleanliness EN ISO 14644 1 2015i Ergonomics of the thermal environment Part 1 EN ISO 13732 1 2008 EMC Generic emission EN 61000 6 4 2007 A1 2011 IEC 61000 6 4 2006 A1 2010 option 129 1 EMC Generic immunity EN 61000 6 2 2005 IEC 61000 6 2 2005 Arc welding equipment Part 1 Welding power sources EN IEC 60974 1 2012ii Arc welding equipment P...

Page 18: ...or industrial robots and robot systems ANSI RIA R15 06 Safety standard for robots and robotic equipment ANSI UL 1740 option 429 1 Industrial robots and robot Systems General safety require ments CAN CSA Z 434 14 option 429 1 Protection of Electrical and Electronic Parts Assemblies and Equipment Excluding Electrically Initiated Explosive Devices ANSI ESD S20 20 2007 18 Product specification IRB 120...

Page 19: ... including payload can be mounted on the robot s mounting flange axis 6 Other equipment weighing a maximum of 0 3 kg can be mounted on the upper arm For more information about mounting of extra equipment see Fitting of equipment on page 31 Product specification IRB 1200 19 3HAC046982 001 Revision G Copyright 2017 ABB All rights reserved 1 Description 1 3 1 Introduction to installation ...

Page 20: ...ontroller 25 C 13 F to 55 C 131 F Standard Complete robot during transportation and storage up to 70 C 158 F Standard For short periods not ex ceeding 24 hours i At low environmental temperature 10ºC is as with any other machine a warm up phase recommended to be run with the robot Otherwise there is a risk that the robot stops or run with lower performance due to temperature dependent oil and grea...

Page 21: ...ted Max load emergency stop Endurance load in operation Force 1940 N 1210 N Force xy 0 1340 N 0 900 N Force z 1650 Nm 700 Nm Torque xy 610 Nm 300 Nm Torque z Suspended mounting Max load emergency stop Endurance load in operation Force 1620 N 910 N Force xy 550 1610 N 550 980 N Force z 1550 Nm 570 Nm Torque xy 580 Nm 280 Nm Torque z Continues on next page Product specification IRB 1200 21 3HAC04698...

Page 22: ... torque Mxy can occur in any direction in the XY plane of the base coordinate system The same applies to the transverse force Fxy Continues on next page 22 Product specification IRB 1200 3HAC046982 001 Revision G Copyright 2017 ABB All rights reserved 1 Description 1 3 3 Mounting the manipulator Continued ...

Page 23: ...ndation It also specifies the type of pins to be used M12x35 robot installation directly on foundation Suitable screws 4 pcs Quantity 8 8 Quality 13 x 20 x 2 steel hardness class 300HV Suitable washer 2 pcs D6x20 ISO 2338 6m6x20 A1 Guide pins 55 Nm 5 Nm Tightening torque xx0900000643 Level surface requirements Product specification IRB 1200 23 3HAC046982 001 Revision G Copyright 2017 ABB All right...

Page 24: ...t be covered by robot warranty General The load diagram includes a nominal pay load inertia J0 of 0 06 kgm2 and an extra load of 0 3 kg at the upper arm housing At different moment of inertia the load diagram will be changed For robots that are allowed tilted wall or inverted mounted the load diagrams as given are valid and thus it is also possible to use RobotLoad within those tilt and axis limit...

Page 25: ...kg 2 kg 1 kg L m Z m 5 kg 0 10 0 20 0 30 0 40 0 00 0 10 0 20 0 40 0 50 0 60 0 00 0 30 xx1300000371 Continues on next page Product specification IRB 1200 25 3HAC046982 001 Revision G Copyright 2017 ABB All rights reserved 1 Description 1 4 2 Load diagram ...

Page 26: ... 6 0 7 0 7 0 6 0 1 0 3 0 5 L m Z m xx1300000372 For wrist down 0o deviation from the vertical line Description 7 5 kg Max load 0 159 m Zmax 0 109 m Lmax Continues on next page 26 Product specification IRB 1200 3HAC046982 001 Revision G Copyright 2017 ABB All rights reserved 1 Description 1 4 2 Load diagram Continued ...

Page 27: ...kg L m Z m 0 10 0 20 0 30 0 00 0 10 0 20 0 30 0 40 0 50 0 00 xx1300000369 Continues on next page Product specification IRB 1200 27 3HAC046982 001 Revision G Copyright 2017 ABB All rights reserved 1 Description 1 4 2 Load diagram Continued ...

Page 28: ...3 0 4 0 5 0 6 0 2 0 7 0 1 0 3 0 5 0 7 L m Z m xx1300000370 For wrist down 0o deviation from the vertical line Description 5 5 kg Max load 0 199 m Zmax 0 069 m Lmax 28 Product specification IRB 1200 3HAC046982 001 Revision G Copyright 2017 ABB All rights reserved 1 Description 1 4 2 Load diagram Continued ...

Page 29: ...0 2 kgm2 IRB 1200 5 0 9 xx1400000342 Description Position Center of gravity A Max moment of inertia around the X Y and Z axes at center of gravity Jox Joy Joz Limited axis 5 center line down Max value Robot variant Axis J5 Mass x Z 0 082 2 L2 max Jox Joy 0 45 kgm2 IRB 1200 7 0 7 5 J5 Mass x Z 0 082 2 L2 max Jox Joy 0 45 kgm2 IRB 1200 5 0 9 J6 Mass x L2 J0Z 0 2 kgm2 IRB 1200 7 0 7 6 J6 Mass x L2 J0...

Page 30: ...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 contact your local ABB organization Max torque valid at load Max wrist torque axis 6 Max wrist torque axis 4 and 5 Robot variant 7 kg 6 2 Nm 12 5 Nm IRB 1200 7 0 7 5 kg 4 4 Nm 8 9 Nm IRB 1200 5 0 9 30 Product specification IRB 1200 3...

Page 31: ...n the marked load areas The robot is supplied with holes for fitting of extra equipment See Holes for fitting extra equipment on page 32 216 68 68 216 34 108 34 68 216 108 A 216 A A A IRB 1200 7 0 7 IRB 1200 5 0 9 150 250 xx1300000384 Max load Load area A 0 3 kg IRB 1200 5 0 9 IRB 1200 7 0 7 Product specification IRB 1200 31 3HAC046982 001 Revision G Copyright 2017 ABB All rights reserved 1 Descri...

Page 32: ... 78 58 20 0 125 xx1300000381 Description Pos IRB 1200 5 0 9 451 mm IRB 1200 7 0 7 351 mm A IRB 1200 5 0 9 216 mm IRB 1200 7 0 7 116 mm B Continues on next page 32 Product specification IRB 1200 3HAC046982 001 Revision G Copyright 2017 ABB All rights reserved 1 Description 1 5 2 Holes for fitting extra equipment ...

Page 33: ... 1200 7 0 7 IRB 1200 5 0 9 122 5 122 5 122 5 122 5 xx1300000382 Continues on next page Product specification IRB 1200 33 3HAC046982 001 Revision G Copyright 2017 ABB All rights reserved 1 Description 1 5 2 Holes for fitting extra equipment Continued ...

Page 34: ...ool flange 4xM5 6 5 H7 0 012 0 6 4x 90 J J 0 25 0 04 4 6 5 5 20 H7 0 021 0 40 h7 0 0 025 J J 45 31 5 xx1300000383 Continues on next page 34 Product specification IRB 1200 3HAC046982 001 Revision G Copyright 2017 ABB All rights reserved 1 Description 1 5 2 Holes for fitting extra equipment Continued ...

Page 35: ...5 0 0 021 20 H7 0 0 025 40 h7 6 5 0 25 0 04 45 6 4xM5 6 0 0 012 5 H7 4x 90 E E xx1600001322 Product specification IRB 1200 35 3HAC046982 001 Revision G Copyright 2017 ABB All rights reserved 1 Description 1 5 2 Holes for fitting extra equipment Continued ...

Page 36: ...mation on calibration of the robot see Product manual IRB 1200 A D E F C B xx1300000365 Description Posi tion Description Posi tion Axis 2 B Axis 1 A Axis 4 D Axis 3 C Axis 6 F Axis 5 E Continues on next page 36 Product specification IRB 1200 3HAC046982 001 Revision G Copyright 2017 ABB All rights reserved 1 Description 1 6 1 Fine calibration ...

Page 37: ...ration data The user is supplied with robot calibration data compensation parameters saved on the manipulator SMB and a certificate that shows the performance Birth certificate The difference between an ideal robot and a real robot without AbsAcc may reach up to 8 mm resulting from mechanical tolerances and deflection in the robot structure If there is a difference at first start up between calibr...

Page 38: ...ction data Typical production data regarding calibration are Positioning accuracy mm Robot Within 1 mm Max Average 100 0 30 0 13 IRB1200 7 0 7 100 0 45 0 14 IRB1200 5 0 9 38 Product specification IRB 1200 3HAC046982 001 Revision G Copyright 2017 ABB All rights reserved 1 Description 1 6 1 1 Absolute Accuracy calibration Continued ...

Page 39: ...uted for longevity and in the unlikely event of a failure its modular design makes it easy to change Maintenance The maintenance intervals depend on the use of the robot the required maintenance activities also depends on selected options For detailed information on maintenance procedures see Maintenance section in the Product Manual IRB 1200 Product specification IRB 1200 39 3HAC046982 001 Revisi...

Page 40: ...on Axis 5 Default 400 to 400 Maximum revolution 242i Default 400 to 400 Maximum revolution 242i Turn motion Axis 6 i 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 Continues on next page 40 Product specifica...

Page 41: ...rees Positions at wrist center mm Position in the figure Axis 3 Axis 2 Z X 0º 0º 791 351 Pos0 83º 0º 1102 0 Pos1 70º 0º 434 160 Pos2 83º 90º 398 703 Pos3 83º 135º 99 497 Pos4 200º 100º 55 133 Pos5 70º 100º 550 62 Pos6 83º 90º 400 703 Pos7 83º 100º 278 693 Pos8 200 135 488 358 Pos9 Continues on next page Product specification IRB 1200 41 3HAC046982 001 Revision G Copyright 2017 ABB All rights reser...

Page 42: ... degrees Positions at wrist center mm Position in the figure Axis 3 Axis 2 Z X 0º 0º 889 451 Pos0 85º 0º 1300 0 Pos1 70º 0º 438 194 Pos2 85º 90º 402 901 Pos3 85º 130º 178 692 Pos4 200º 100º 48 179 Pos5 70º 100º 583 72 Pos6 85º 90º 397 901 Pos7 85º 100º 240 887 Pos8 200 130 549 458 Pos9 42 Product specification IRB 1200 3HAC046982 001 Revision G Copyright 2017 ABB All rights reserved 1 Description ...

Page 43: ... xx0800000424 Description Position Description Position Programmed path E Programmed position A Actual path at program execution D Mean position at program execution B Max deviation from E to average path AT Mean distance from pro grammed position AP Tolerance of the path at repeated program execution RT Tolerance of position B at re peated positioning RP Values Description IRB 1200 7 0 7 IRB 1200...

Page 44: ...0 9 600 s 405 s 400 s 300 s 240 s 288 s IRB 1200 7 0 7 Supervision is required to prevent overheating in applications with intensive and frequent movements Resolution Approximately 0 01o on each axis 44 Product specification IRB 1200 3HAC046982 001 Revision G Copyright 2017 ABB All rights reserved 1 Description 1 8 3 Velocity ...

Page 45: ...ted robot without any tilting IRB 1200 5 0 9 IRB 1200 7 0 7 Stopping dis tance º Stop time s Stopping dis tance º Stop time s 49 0 24 36 0 23 Axis 1 Category 0 40 0 29 28 0 24 Axis 2 53 0 34 22 0 21 Axis 3 70 0 41 75 0 43 Axis 1 Category 1 66 0 34 46 0 40 Axis 2 53 0 36 34 0 40 Axis 3 42 0 25 49 0 25 Axis 1 Main power failure 54 0 31 29 0 22 Axis 2 33 0 21 34 0 31 Axis 3 Product specification IRB ...

Page 46: ... fuse protector for customer connection otherwise application overload will burn out the CP CS cables in the robot Detailed information about the CP CS connection is provided in a warning label on the tubular housing xx1600001687 There is also connections for Ethernet one connector 1401057 Phoenix R4 Ethernet at the tubular housing and the corresponding connector 1424009 Phoenix R1 Ethernet locate...

Page 47: ... xx1300000385 Value Number Description Connection Position 49 V 500 mA 10 Customer power signal R1 R4 CP CS A Inner hose diameter 4 mm 4 Max 5 bar Air B 100 10 Base TX 8 Customer Ethernet R1 R4 Ethernet C Product specification IRB 1200 47 3HAC046982 001 Revision G Copyright 2017 ABB All rights reserved 1 Description 1 9 Customer connections Continued ...

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Page 49: ...ption numbers are used here as in the specification form Related information For the controller see Product specification Controller IRC5 For the software options see Product specification Controller software IRC5 Product specification IRB 1200 49 3HAC046982 001 Revision G Copyright 2017 ABB All rights reserved 2 Specification of variants and options 2 1 Introduction to variants and options ...

Page 50: ...ndard colors Protection Description Option Standard 287 4 IP67 66 287 10 Clean Room 287 1 The robot is labelled Clean Room Foundry Plus 2 287 3 See Protection type Foundry Plus 2 on page 11 for a complete description of protection type Foundry Plus 2 Lubrication Description Option Manipulator lubricated with food grade lubrication 777 1 Note This option is released from RobotWare 6 03 as IRB1200FG...

Page 51: ...er connection 431 1 For the connectors on the foot 239 1 Safety lamp Description Option Safety lamp safty 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 213 1 xx1300000389 Robot cabling routing Description Option Manipulator cables routed from below underneath the base of the manipu lator ...

Page 52: ...tomer Service in case of other requirements Standard warranty 18 months 438 4 Standard warranty extended with 24 months from end date of the standard warranty Warranty terms and con ditions apply Contact Customer Service in case of other requirements Standard warranty 24 months 438 5 Standard warranty extended with 6 months from end date of the standard warranty Warranty terms and con ditions appl...

Page 53: ...arranty Standard warranty com mences automatically after 6 months from Factory Shipment Date or from activation date of standard war ranty in WebConfig Note Special conditions are applicable see Robotics Warranty Directives Stock warranty 438 8 Product specification IRB 1200 53 3HAC046982 001 Revision G Copyright 2017 ABB All rights reserved 2 Specification of variants and options 2 2 Manipulator ...

Page 54: ...llell communication Lengths Option 3 m 94 6 7 m 94 1 15 m 94 2 22 m 94 3 30 m 94 4 Connection of Ethernet Lengths Option 7 m 859 1 15 m 859 2 22 m 859 3 30 m 859 4 3 m 859 6 54 Product specification IRB 1200 3HAC046982 001 Revision G Copyright 2017 ABB All rights reserved 2 Specification of variants and options 2 3 Floor cables ...

Page 55: ...t supervision Description Option SafeMove Basic 1125 1 SafeMove Pro 1125 2 Product specification IRB 1200 55 3HAC046982 001 Revision G Copyright 2017 ABB All rights reserved 2 Specification of variants and options 2 4 Control module ...

Page 56: ...small 768 1 See Product specification Controller IRC5 chapter 2 2 1 Empty cabinet large 768 2 See Product specification Controller IRC5 chapter 2 2 1 Installation kit 715 1 56 Product specification IRB 1200 3HAC046982 001 Revision G Copyright 2017 ABB All rights reserved 2 Specification of variants and options 2 5 Process ...

Page 57: ...obot and PC For more information see Product specification Controller IRC5 and Product specification Controller software IRC5 Robot peripherals Motor Units1 1 Not applicable for IRC5 Compact controller Product specification IRB 1200 57 3HAC046982 001 Revision G Copyright 2017 ABB All rights reserved 3 Accessories 3 1 Introduction to accessories ...

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Page 59: ... product standards 17 R robot type Type A 9 Type B 9 S safety standards 17 standards 17 ANSI 18 CAN 18 EN 18 EN IEC 17 EN ISO 17 standard warranty 52 stock warranty 52 V variants 49 W warranty 52 Product specification IRB 1200 59 3HAC046982 001 Revision G Copyright 2017 ABB All rights reserved Index ...

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Page 62: ...40 BRYNE Norway Box 265 N 4349 BRYNE Norway Telephone 47 22 87 2000 ABB Engineering Shanghai Ltd Robotics and Motion No 4528 Kangxin Highway PuDong District SHANGHAI 201319 China Telephone 86 21 6105 6666 ABB Inc Robotics and Motion 1250 Brown Road Auburn Hills MI 48326 USA Telephone 1 248 391 9000 www abb com robotics 3HAC046982 001 Rev G en ...

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