ABB IRB 2400/10 Product Specification Download Page 21

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1 Description

1.3.3 Mounting the manipulator

3HAC 9112-1

Rev.N

1.3.3 Mounting the manipulator

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

IRB 2400/L

IRB 2400/10 and IRB 2400/16

Endurance load in operation Max. load at emergency stop

Force xy

± 1700 N

± 2100 N

Force z floor
mounting

+ 4100 ±1100 N

+ 4100 ± 1400 N

Force z inverted
mounting

- 4100 ±1100 N

- 4100 ± 1400 N

Torque xy

± 3000 Nm

± 3400 Nm

Torque z

± 450 Nm

± 900 Nm

Endurance load in operation Max. load at emergency stop

Force xy

± 2000 N

± 2600 N

Force z floor
mounting

+ 4100 ± 1400 N

+ 4100 ± 1900 N

Force z inverted
mounting

- 4100 ± 1400 N

- 4100 ± 1900 N

Torque xy

± 3400 Nm

± 4000 Nm

Torque z

± 550 Nm

± 900 Nm

Summary of Contents for IRB 2400/10

Page 1: ...Product specification Articulated robot IRB 2400 10 IRB 2400 16 IRB 2400 L M2004...

Page 2: ......

Page 3: ...Product specification Articulated robot 3HAC9112 1 Rev N IRB 2400 10 IRB 2400 16 IRB 2400 L M2004...

Page 4: ...ess 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 there...

Page 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...

Page 6: ...Table of Contents 4 Rev N 3HAC 9112 1...

Page 7: ...ts on page 3 Revisions Revision Description Revision 6 The IRB 2400 L 5 kg version cancelled New values for Performance Acc to ISO 9283 added M2000 cancelled Revision G Option 287 5 Wash removed Revis...

Page 8: ...Complementary Product specifications Product specification Description Controller IRC5 with FlexPendant 3HAC021785 001 Controller Software IRC5 RobotWare 5 11 3HAC022349 001 Robot User Documen tation...

Page 9: ...om 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 p...

Page 10: ...1 Description 1 1 1 Introduction 8 Rev N 3HAC 9112 1 Manipulator axes Figure 1 The IRB 2400 manipulator has 6 axes...

Page 11: ...sion designation IRB 2400 Version Manipulator weight Other technical data Robot type Handling capacity kg Reach m IRB 2400 10 10 kg 1 55 m IRB 2400 16 16 kg 20 kg with some limita tions see chapter 1...

Page 12: ...ersions 10 Rev N 3HAC 9112 1 Power consumption Path E1 E2 E3 E4 in the ISO Cube maximum load Figure 2 Path E1 E2 E3 E4 in the ISO Cube maximum load Speed mm s Power consumption kW Max 0 61 0 67 1000 0...

Page 13: ...1 Description 1 1 2 Different robot versions 3HAC 9112 1 Rev N 11 Dimensions for IRB 2400 L Figure 3 View of the manipulator from the side rear and above dimensions in mm...

Page 14: ...1 Description 1 1 2 Different robot versions 12 Rev N 3HAC 9112 1 Dimensions for IRB 2400 10 and IRB 2400 16 Figure 4 View of the manipulator from the side rear and above dimensions in mm...

Page 15: ...h 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 immu...

Page 16: ...on brakes released is indicated on the FlexPendant Data can also be monitored over network using e g WebWare The Active Safety System Description General The active safety system includes those softwa...

Page 17: ...ent 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 e...

Page 18: ...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 pu...

Page 19: ...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 mou...

Page 20: ...IP67 IRB 2400F 10 F 16 Manipulator IP67 Steam washable US Federal Standard 209 Class 100 ISO 14644 1 Class 5 Description Standard Option Temperature Manipulator during opera tion Standard 5 C 41 F to...

Page 21: ...ation Max load at emergency stop Force xy 1700 N 2100 N Force z floor mounting 4100 1100 N 4100 1400 N Force z inverted mounting 4100 1100 N 4100 1400 N Torque xy 3000 Nm 3400 Nm Torque z 450 Nm 900 N...

Page 22: ...manipulator 20 Rev N 3HAC 9112 1 Figure 5 Directions of forces Note regarding Mxy and Fxy The bending torque Mxy can occur in any direction in the XY plane of the base coordinate system The same appl...

Page 23: ...escription 1 3 3 Mounting the manipulator 3HAC 9112 1 Rev N 21 Figure 6 Hole configuration dimensions in mm Pos Description A Z center line axis 1 B The same dimensions C View from the bottom of the b...

Page 24: ...g parts can be damaged due to overload motors gearboxes mechanical structure It is very important to always define correct actual load data and correct payload of the robot Incorrect definitions of lo...

Page 25: ...mounting on the mounting flange at different positions cen ter of gravity Description Z See the above diagram and the coordinate system in the Product specification IRC5 with FlexPendant L Distance in...

Page 26: ...g on the mounting flange at different positions cen ter of gravity Description Z See the above diagram and the coordinate system in the Product specification IRC5 with FlexPendant L Distance in X Y pl...

Page 27: ...g on the mounting flange at different positions cen ter of gravity Description Z See the above diagram and the coordinate system in the Product specification IRC5 with FlexPendant L Distance in X Y pl...

Page 28: ...ermitted for load mounting on the mounting flange at different positions center of gravity No extra load on wrist see Figure 14 Description Z See the above diagram and the coordinate system in the Pro...

Page 29: ...l movement of axis 5 Axis Robot Type Maximum momemt of inertia 5 IRB 2400L J5 Mass x Z 0 065 2 L2 max J0x J0y 0 65 kgm2 6 IRB 2400L J6 Mass x L2 J0Z 0 31 kgm2 Axis Robot Type Maximum momemt of inertia...

Page 30: ...nter of gravity within the load diagram since those also are lim ited by main axes torques as well as dynamic loads Also arm loads will influence the per mitted load diagram For finding the absolute l...

Page 31: ...shaded area indicates the permitted positions center of gravity for any extra equipment mounted in the holes dimensions in mm Pos Description A The rear side of the manipulator M8 2x Depth 14 400 300...

Page 32: ...gravity for any extra equipment mounted in the holes dimensions in mm Pos Description A The rear side of the manipulator 400 300 35 70 65 177 M8 3x Depth of thread 14 A A M6 2x 110 25 100 200 300 450...

Page 33: ...ns center of gravity for any extra equipment mounted in the holes dimensions in mm Pos Description A No extra load on wrist B The rear side of the manipulator 300 100 35 70 65 177 M8 3x Depth of threa...

Page 34: ...mounting flange dimensions in mm IRB 2400 10 and IRB 2400 16 Figure 16 The mechanical interface mounting flange dimensions in mm 45 o D 6 H7 M6 4x R 20 A A 0 05 B 4x 90o 6 D 25 9 A A D 50 h8 B H8 0 02...

Page 35: ...Calibration Pendulum please see Operating manual Calibration Pendulum Figure 17 All axes in zero position Calibration Calibration Position Calibration of all axes All axes are in zero position Calibr...

Page 36: ...acy 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 positi...

Page 37: ...ion 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 Cart...

Page 38: ...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...

Page 39: ...Axis 2 Arm motion 110 to 100 Axis 3 Arm motion 65 to 60 Axis 4 Wrist motion 185 to 185 Axis 5 Bend motion 115 to 115 Axis 6 Turn motion 400 to 400 300 rev a to 300 rev Max b a rev Revolutions b The de...

Page 40: ...ns at wrist center mm and angle degrees see the following table Position no see Figure 19 Position mm X Position mm Z Angle degrees Axis 2 Angle degrees Axis 3 0 970 1620 0 0 1 404 2298 0 60 2 602 745...

Page 41: ...mounted 10 kg version 180 to 180 Axis 2 Arm motion 110 to 100 Axis 3 Arm motion 65 to 60 Axis 4 Wrist motion 200 to 200 Unlimited as optional Axis 5 Bend motion 120 to 120 Axis 6 Turn motion 400 to 40...

Page 42: ...B Positions at wrist center mm and angle degrees see the following table Position no see Figure 20 Position mm X Position mm Z Angle degrees Axis 2 Angle degrees Axis 3 0 855 1455 0 0 1 360 2041 0 60...

Page 43: ...am execution D Actual path at program execution AP Mean distance from programmed position AT Max deviation from E RP Tolerance of posiotion B at repeated positioning RT Tolerance of the path at repeat...

Page 44: ...ne moving axis All stop distances are valid for floor mounted robot without any tilting Axis no IRB 2400 L IRB 2400 10 IRB 2400 16 1 150 s 150 s 90 sa a For wall mounted 10 kg version 150 s 2 150 s 15...

Page 45: ...A B A B A B IRB 2400 16 1 48 4 0 62 71 0 0 88 56 1 0 67 2 16 8 0 21 28 8 0 36 23 6 0 26 3 24 9 0 30 37 9 0 44 32 3 0 35 Description A Distance in degrees B Stop time s For more information of air and...

Page 46: ...1 Description 1 8 5 Signals 44 Rev N 3HAC 9112 1...

Page 47: ...specification Controller IRC5 with FlexPendant and for software options see Product specification Controller software IRC5 RobotWare 2 1 2 Manipulator Variants Manipulator color Option IRB Type Handli...

Page 48: ...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 protec...

Page 49: ...2400 L option 435 9 Option Description 16 1 Cabineta a Note In a M2004 MultiMove application additional robots have no Control Module The screw terminals with internal cabling are then delivered separ...

Page 50: ...ced 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...

Page 51: ...ng range limit axis 2 To increase the safety of the robot the working range of axis 2 can be restricted Figure 23 Mounting positions of the stops axis 2 Option Description 28 1 Axis 1 Two extra stops...

Page 52: ...001 1 adds 6 meters to that ending up with a total travel length of 7 7 m Option Description 34 1 Axis 3 Equipment for electrically restricting the working range in increments of 5 Option Type Descrip...

Page 53: ...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 Maximum 6 months postponed warr...

Page 54: ...on Lengths 1067 1 7 m 1067 2 10 m Standard length 1067 3 15 m Option Lengths 1068 1 7 m 1068 2 10 m Standard length 1068 3 15 m Option Type Description 1048 1 Flexible Only available with one or two M...

Page 55: ...TM ABIROB W 22 degrees Option Type Description 768 1 Empty cabinet small See Product Specification Controller IRC5 with FlexPendant chapter 2 2 1 768 2 Empty cabinet large See Product Specification Co...

Page 56: ...e Description 1030 4 7 5 m For external suspension mounting not included Only together with option 1029 13 or 1029 14 1030 5 10 m Internal suspension mounting hose package attatched to the robot base...

Page 57: ...orking areas 1054 3 2 x operators panel 2 areas Two operator panels one for each working area Option Type Description 1058 1 Safety interface SIB requires options 735 3 and 735 4 1058 2 Active relay A...

Page 58: ...Pre reset unit Qty 1 or 2 one working area requires one PC of Pre reset Two working areas require two PCs of Pre reset Option Type Description 1064 1 Activation unit Qty 1 or 2 one requires one PC of...

Page 59: ...quipment 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 spe...

Page 60: ...3 Accessories 58 Rev N 3HAC 9112 1...

Page 61: ...1 52 Manipulator connection of Parallel communica tion 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 limitat...

Page 62: ...rch 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 Tra...

Page 63: ......

Page 64: ...ABB AB Robotics Products S 721 68 V STER S SWEDEN Telephone 46 0 21 344000 Telefax 46 0 21 132592 3HAC9112 1 Revision N en...

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