ABB IRB 1090 Product Specification Download Page 51 | Manualshive

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8 When the axis has reached maximum speed, press the emergency stop

button.

9 In TuneMaster, measure the stopping distance and time.

10 Repeat for all installed emergency stop buttons until the identified hazards

due to stopping distance and time for axes have been verified.

Example from TuneMaster

xx1600000386

Product specification - IRB 1090

51

3HAC088057-001 Revision: B

© Copyright 2023 ABB. All rights reserved.

1 Description

1.9.2 Measuring stopping distance and time

Continued

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Summary of Contents for IRB 1090

Page 1: ...ROBOTICS Product specification IRB 1090...

Page 2: ...Trace back information Workspace 23D version a13 Checked in 2023 12 07 Skribenta version 5 5 019...

Page 3: ...Product specification IRB 1090 3 5 0 58 OmniCore Document ID 3HAC088057 001 Revision B Copyright 2023 ABB All rights reserved Specifications subject to change without notice...

Page 4: ...anty by ABB for losses damage 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...

Page 5: ...imum load and moment of inertia for full and limited axis 5 center line down movement 35 1 5 4 Wrist torque 36 1 5 5 Maximum TCP acceleration 37 1 6 Fitting equipment to the robot 39 1 7 Maintenance a...

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

Page 7: ...product to buy How to handle the product is described in the product manual The specification is intended for Product managers and product personnel Sales and marketing personnel Order and customer s...

Page 8: ...This page is intentionally left blank...

Page 9: ...eminder and the warranty is also limited to using in such applications Using the IRB 1090 in any other kinds of applications will lead to reduced reliability and shortened lifetime and will also void...

Page 10: ...90 is available in one variant Reach m Handling capacity kg Robot variant 0 58 m 3 5 kg IRB 1090 3 5 0 58 10 Product specification IRB 1090 3HAC088057 001 Revision B Copyright 2023 ABB All rights rese...

Page 11: ...the manipulator Installation angle Mounting position Any angle Floor mounted Any angle Suspended Note The actual mounting angle must always be configured in the system parameters otherwise the perfor...

Page 12: ...These forces and torques are extreme values that are rarely encountered during operation The values also never reach their maximum at the same time WARNING The robot installation is restricted to the...

Page 13: ...Pa Minimum foundation material yield strength i The minimum resonance frequency given should be interpreted as the frequency of the robot mass inertia robot assumed stiff when a foundation translation...

Page 14: ...responding protection class Protection class i Protection type IP40 Manipulator protection type Standard i According to IEC 60529 Environmental information The product complies with IEC 63000 Technica...

Page 15: ...B 135 135 101 158 173 K View 176 182 C xx2300001048 Description Pos Turning radius R85 A Turning radius R109 B Turning radius R61 C Product specification IRB 1090 15 3HAC088057 001 Revision B Copyrigh...

Page 16: ...t 1 General requirements normative reference from ISO 10218 1 IEC 60204 1 Electromagnetic compatibility EMC Part 6 2 Generic standards Immunity standard for industrial environments IEC 61000 6 2 Elect...

Page 17: ...nted on the tool flange axis 6 See Load diagrams on page 30 Extra loads The upper arm can handle an additional load of 0 5 kg See Fitting equipment to the robot on page 37 Working range limitation The...

Page 18: ...m 5 Nm Tightening torque Minimum 12 5 mm for ground with material yield strength 150 MPa Length of thread engagement 0 1 500 mm Level surface requirements Hole configuration base This illustration sho...

Page 19: ...bration focuses on pos itioning accuracy in the Cartesian coordinate system for the robot Absolute accuracy calibration option al Absolute accuracy calibration data is found on the serial measurement...

Page 20: ...libration method The actual instructions of how to perform the wrist optimization procedure is given on the FlexPendant CalibWare Absolute Accuracy calibration The CalibWare tool guides through the ca...

Page 21: ...s4 Syn Axis5 Syn Axis6 xx2300001064 CAUTION To calibrate the axis 6 the notch on the wrist must be aligned with the marked pin hole on the tool flange Before installing a tool on the tool flange make...

Page 22: ...calibration is done with the Axis calibration method xx1800003320 xx1800003514 Continues on next page 22 Product specification IRB 1090 3HAC088057 001 Revision B Copyright 2023 ABB All rights reserve...

Page 23: ...tion Pos Description Pos Axis 2 2 Axis 1 1 Axis 4 4 Axis 3 3 Axis 6 6 Axis 5 5 Product specification IRB 1090 23 3HAC088057 001 Revision B Copyright 2023 ABB All rights reserved 1 Description 1 4 3 Fi...

Page 24: ...ed with compensation parameters saved in the robot memory a birth certificate representing the Absolute Accuracy measurement protocol for the calibration and verification sequence A robot with Absolut...

Page 25: ...onal axis or track motion RAPID instructions There are no RAPID instructions included in this option Production data Typical production data regarding calibration are Positioning accuracy mm Robot Wit...

Page 26: ...e Straightness within 0 005 mm xx1500000951 Outer diameter A Periodic check of the calibration tool for the tool flange 3HAC058238 001 If including the tool flange calibration tool in a local periodic...

Page 27: ...xx1600001142 Outer diameter A Product specification IRB 1090 27 3HAC088057 001 Revision B Copyright 2023 ABB All rights reserved 1 Description 1 4 4 Absolute Accuracy calibration Continued...

Page 28: ...1 Syn Axis2 Syn Axis3 Syn Axis4 Syn Axis5 Syn Axis6 xx2300001064 CAUTION To calibrate the axis 6 the notch on the wrist must be aligned with the marked pin hole on the tool flange Before installing a...

Page 29: ...gears and so on Positive directions are shown in the graphic below Calibration service routines will handle the calibration movements automatically and these might be different from the positive direc...

Page 30: ...d diagram will not be covered by robot warranty General The load diagrams include a nominal payload inertia Jo of 0 012 kgm2 and an extra load of 0 5 kg at the upper arm housing At different moment of...

Page 31: ...0 50 0 00 0 10 0 20 0 30 Z distance m L distance m 0 5 kg 1 kg 1 5 kg 2 kg 2 5 kg 3 kg 3 5 kg xx2300000827 Figure 1 1 Continues on next page Product specification IRB 1090 31 3HAC088057 001 Revision...

Page 32: ...0 Z distance m L distance m 3 7 kg 3 5 kg 3 kg 2 kg 1 kg Z L 10 o 10 o xx2300000828 For wrist down 0o deviation from the vertical line Description 3 5 kg Max load 0 078 m Zmax 0 082 m Lmax 32 Product...

Page 33: ...Robot type Axis Ja5 Load x Z 0 064 2 L2 max Jox Joy 0 175 kgm2 IRB 1090 3 5 0 58 5 Ja6 Load x L2 Joz 0 085 kgm2 IRB 1090 3 5 0 58 6 xx1400002028 Description Pos Center of gravity A Description Max mom...

Page 34: ...090 3 5 0 58 6 xx1400002029 Description Pos Center of gravity A Description Max moment of inertia around the X Y and Z axes at center of gravity Jox Joy Joz 34 Product specification IRB 1090 3HAC08805...

Page 35: ...arm loads will influence the permitted load diagram To find the absolute limits of the load diagram use the RobotStudio add in RobotLoad Torque The table below shows the maximum permissible torque du...

Page 36: ...r nominal loads Controlled Motion Max acceleration at nominal load COG m s2 E stop Max acceleration at nominal load COG m s2 Robot type 71 137 IRB 1090 3 5 0 58 Note Acceleration levels for emergency...

Page 37: ...s on center of gravity of arm load and robot payload Max Armload kg Variant 0 5 IRB 1090 3 5 0 58 Holes for fitting extra equipment 2 M5 10 two sides 40 2 M3 6 two sides 16 40 2 M4 8 two sides 10 300...

Page 38: ...lange Before installing a tool on the tool flange make sure a visible mark has been made to the tool at the corresponding position Fastener quality When fitting tools on the tool flange only use screw...

Page 39: ...ice as possible Maintenance free AC motors are used Grease is used for the gearboxes The cabling is routed for longevity and in the unlikely event of a failure its modular design makes it easy to chan...

Page 40: ...Pos 7 Pos 8 Pos 2 xx2300001049 Positions at wrist center and angle of axes 2 and 3 Angle degrees Positions at wrist center mm Position in the figure axis 3 axis 2 Z X 0 0 617 364 pos0 88 0 907 2 0 po...

Page 41: ...3 230 Axis 4 125 120 Axis 5 Default value 400 Axis 6 Maximum revolution value 242 The default working range for axis 6 can be exten ded by changing parameter values in the soft ware Product specificat...

Page 42: ...41 Mechanical stops on the manipulator Mechanical stops are and can be installed on the manipulator as limiting devices to ensure that the manipulator axis does not exceed the working range values se...

Page 43: ...cation of the mechanical stops Only axis 1 has a replaceable mechanical stop xx1800002452 Product specification IRB 1090 43 3HAC088057 001 Revision B Copyright 2023 ABB All rights reserved 1 Descripti...

Page 44: ...rammed 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...

Page 45: ...s 320 s 250 s 250 s 250 s IRB 1090 3 5 0 58 There is a supervision function to prevent overheating in applications with intensive and frequent movements high duty cycle Product specification IRB 1090...

Page 46: ...ata and extension zones presented for the respected robot variant These variables are 100 66 and 33 of the maximum values for the robot The stop categories 0 and 1 are according to IEC 60204 1 Note Th...

Page 47: ...is presented for the respective robot variant The extension zone outer limits are defined by the TCP0 position for the stated angles Illustration xx2300000860 Axis 1 xx2300000861 Axis 2 Continues on n...

Page 48: ...ing on the individual brakes and the joint friction Reading the data The data for stop category 0 is presented in tables with distance and time for each axis The data for stop category 1 is presented...

Page 49: ...x2300001041 The tcp speed is the actual speed when the stop is initiated which is not necessarily the programmed speed Product specification IRB 1090 49 3HAC088057 001 Revision B Copyright 2023 ABB Al...

Page 50: ...identification service routine can be used to identify the data CAUTION Follow the safety instructions in the respective product manual for the robot Measuring with TuneMaster The software TuneMaster...

Page 51: ...t for all installed emergency stop buttons until the identified hazards due to stopping distance and time for axes have been verified Example from TuneMaster xx1600000386 Product specification IRB 109...

Page 52: ...for category 0 stop Stop time Distance Axis 0 2 s 35 0 1 0 16 s 25 1 2 0 19 s 32 4 3 Category 1 extension zones For definitions of the zones see Extension zones on page 47 The zone border is the mount...

Page 53: ...xtension zone 0 stopping distance and stopping time Continues on next page Product specification IRB 1090 53 3HAC088057 001 Revision B Copyright 2023 ABB All rights reserved 1 Description 1 9 3 IRB 10...

Page 54: ...xtension zone 1 stopping distance and stopping time Continues on next page 54 Product specification IRB 1090 3HAC088057 001 Revision B Copyright 2023 ABB All rights reserved 1 Description 1 9 3 IRB 10...

Page 55: ...xtension zone 2 stopping distance and stopping time Continues on next page Product specification IRB 1090 55 3HAC088057 001 Revision B Copyright 2023 ABB All rights reserved 1 Description 1 9 3 IRB 10...

Page 56: ...xtension zone 0 stopping distance and stopping time Continues on next page 56 Product specification IRB 1090 3HAC088057 001 Revision B Copyright 2023 ABB All rights reserved 1 Description 1 9 3 IRB 10...

Page 57: ...xtension zone 1 stopping distance and stopping time Continues on next page Product specification IRB 1090 57 3HAC088057 001 Revision B Copyright 2023 ABB All rights reserved 1 Description 1 9 3 IRB 10...

Page 58: ...xtension zone 2 stopping distance and stopping time Continues on next page 58 Product specification IRB 1090 3HAC088057 001 Revision B Copyright 2023 ABB All rights reserved 1 Description 1 9 3 IRB 10...

Page 59: ...1 Axis 3 Extension zone 0 stopping distance and stopping time Product specification IRB 1090 59 3HAC088057 001 Revision B Copyright 2023 ABB All rights reserved 1 Description 1 9 3 IRB 1090 3 0 58 Co...

Page 60: ...e wrist A B C A B C C xx2300001047 Value Number Description Connection Position 30 V 1 5 A 8 wiresi Customer power signal R1 R2 C1 A 30 V 1 A or 1 Gbits s 8 wires Customer power signal or Ethernet R1...

Page 61: ...kits Protection covers Protection covers for water and dust proofing Protection covers are delivered together with the robot and must be well fitted to the connectors in any application requiring wat...

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Page 63: ...ections The same option numbers are used here as in the specification form The variants and options related to the robot controller are described in the product specification for the controller Produc...

Page 64: ...03 2 Connector kits manipulator The kit consists of connectors pins and sockets Description Option Male type Straight arm connector kits 3304 1 Male type Angled arm connector kits 3305 1 Male type Str...

Page 65: ...ipment Date whichever occurs first Warranty terms and conditions apply Standard warranty 438 1 Standard warranty extended with 12 months from end date of the standard warranty Warranty terms and con d...

Page 66: ...tor cable Angled Lengths Option Angled type connector requires option Manipulator cable Length 3200 X 3209 1 xx2100001123 xx2100001124 Continues on next page 66 Product specification IRB 1090 3HAC0880...

Page 67: ...B xx1600002016 Diameter A Diameter x10 B Connection of Ethernet Required 3303 2 Ethernet Parallel Air and occupies 1 Ethernet port Lengths Option 7 m 3202 2 Product specification IRB 1090 67 3HAC08805...

Page 68: ...This page is intentionally left blank...

Page 69: ...d equipment available Basic software and software options for robot and PC For more information see Product specification OmniCore E line Product specification IRB 1090 69 3HAC088057 001 Revision B Co...

Page 70: ...This page is intentionally left blank...

Page 71: ...chanical stop location 43 N negative directions axes 29 O operating conditions 14 options 63 P positive directions axes 29 product standards 16 protection classes 14 protection type 14 R replacing mec...

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Page 74: ...47 22 87 2000 ABB Engineering Shanghai Ltd Robotics Discrete Automation No 4528 Kangxin Highway PuDong New District SHANGHAI 201319 China Telephone 86 21 6105 6666 ABB Inc Robotics Discrete Automation...

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