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1.7.4 Robot stopping distances and times

Introduction

The stopping distances and times for category 0 and category 1 stops, as required
by EN ISO 10218-1 Annex B, are listed in

Product specification - Robot stopping

distances according to ISO 10218-1

(

3HAC048645-001

).

54

Product specification - IRB 6660

3HAC087212-001 Revision: A

© Copyright 2004-2023 ABB. All rights reserved.

1 Description

1.7.4 Robot stopping distances and times

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Summary of Contents for IRB 6660

Page 1: ...ROBOTICS Product specification IRB 6660...

Page 2: ...Trace back information Workspace 23D version a14 Checked in 2023 12 12 Skribenta version 5 5 019...

Page 3: ...t specification IRB 6660 100 3 3 IRB 6660 130 3 1 IRB 6660 205 1 9 OmniCore Document ID 3HAC087212 001 Revision A Copyright 2004 2023 ABB All rights reserved Specifications subject to change without n...

Page 4: ...y 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 and...

Page 5: ...mited axis 5 center line down movement 41 1 5 4 Wrist torque 42 1 6 Mounting of equipment 42 1 6 1 General 44 1 6 2 Mounting of hip load 48 1 7 Robot motion 48 1 7 1 Introduction 52 1 7 2 Performance...

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

Page 7: ...product to buy How to handle the product is described in the product manual Users It is intended for Product managers and Product personnel Sales and Marketing personnel Order and Customer Service pe...

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

Page 9: ...l in the unlikely event of an accident but also robot tools peripheral equipment and the robot itself Operating system The robot is equipped with the OmniCore controller and robot control software Rob...

Page 10: ...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...

Page 11: ...or axes Axis 4 Axis 5 Axis 6 Axis 3 Axis 2 Axis 1 xx1000000633 Product specification IRB 6660 11 3HAC087212 001 Revision A Copyright 2004 2023 ABB All rights reserved 1 Description 1 1 1 Introduction...

Page 12: ...o Machinery directive 2006 42 EG The sound pressure level out side the working space Airborne noise level Power consumption at max load IRB 6660 all variants Type of movement 1 22 kW ISO cube 1000 m s...

Page 13: ...nsions IRB 6660 130 3 1 xx1000000634 Description Forklift width 750 mm A Max working range B Mechanical stop C Max working range D R710 Radius for motor axis 3 E R750 Right fork lift pocket Continues...

Page 14: ...7 Description Forklift width 750 mm A Max working range B Mechanical stop C Max working range D R710 Radius for motor axis 3 E R750 Right fork lift pocket Continues on next page 14 Product specificati...

Page 15: ...A Max working range B Max working range C R710 Radius for motor axis 3 D R750 Right fork lift pocket Continues on next page Product specification IRB 6660 15 3HAC087212 001 Revision A Copyright 2004...

Page 16: ...de burring sawing and milling to be accumulated on the robot and secure its movable functionality Chip protec tion B Mandatory for IRB 6660 205 1 9 Not available for IRB 6660 130 3 1 16 Product speci...

Page 17: ...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 Electrom...

Page 18: ...3 can an extra load of 20 kg be mounted on to the upper arm at a payload of maximum 130 or 100 kg for IRB 6660 205 1 9 can an extra load of 15 kg be mounted on to the upper arm at a payload of maximu...

Page 19: ...to 70 C 158 F Standard For short periods not exceeding 24 hours a At low environmental temperature 10o C is as with any other machine a warm up phase recommended to be run with the robot Otherwise the...

Page 20: ...6660 205 1 9 33 4 kNm IRB 6660 100 3 3 24 4 kNm IRB 6660 100 3 3 Torque xy 37 2 kNm IRB 6660 130 3 1 25 6 kNm IRB 6660 130 3 1 32 4 kNm IRB 6660 205 1 9 19 6 kNm IRB 6660 205 1 9 14 5 kNm IRB 6660 10...

Page 21: ...d The corresponding holes in the base plate shall be circular and oval according to the next two Figures Regarding AbsAcc performance the chosen guide holes according to Figure above and last Figure i...

Page 22: ...4 x 4 8 1 3 2 1 6 3x45 0 3 45P7 A A 1 5 4x 6 3 4 8 2 1 6 3x45 B B 2 1 3 3x R1 3 x 4 3x 90 C C 4 5 K 7 0 5 0 47 0 25 c 2x R22 5 1 6 D 2 c 5 2 5 Common Zone E F G H xx1000001053 Common tolerance zone ac...

Page 23: ...2 385 565 748 800 882 923 4x 16 5x 22 16x 861 2x 358 2x 18 0 905 813 475 137 45 0 0 37 2x 87 2x 293 2x 450 2x 630 2x 813 2x 947 2x 991 2x A xx1000001054 Description Pos Color RAL 9005 A Thickness 80 1...

Page 24: ...escription Pos Guide sleeve protected from corrosion A 24 Product specification IRB 6660 3HAC087212 001 Revision A Copyright 2004 2023 ABB All rights reserved 1 Description 1 3 3 Mounting the manipula...

Page 25: ...calibrated with Absolute accuracy has the option information printed on its name plate OmniCore To regain 100 Absolute accuracy perform ance the robot must be recalibrated for abso lute accuracy afte...

Page 26: ...cedure and what to do at each step is given on the FlexPendant You will be guided through the calibration procedure step by step Wrist Optimization method Wrist Optimization is a method for improving...

Page 27: ...Calibration Position Calibration All axes are in zero position Calibration of all axes Axis 1 and 2 in zero position Calibration of axis 1 and 2 Axis 3 to 6 in any position Axis 1 in zero position Cal...

Page 28: ...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 Absolute...

Page 29: ...le an additional axis or track motion the Absolute Accuracy is active for the manipulator but not for the additional axis or track motion RAPID instructions There are no RAPID instructions included in...

Page 30: ...tion cell The holes are not available for option Foundry Plus Y X 315 282 84 282 84 12H8 12 x4 12H8 12 x1 A A A A 24 x4 88 B B B B 24 x1 134 R 400 45 x4 xx1000000645 Continues on next page 30 Product...

Page 31: ...r references on tool flange Robot R 87 5 IRB 6660 130 3 1 R 87 5 IRB 6660 100 3 3 R 87 5 IRB 6660 205 1 9 Product specification IRB 6660 31 3HAC087212 001 Revision A Copyright 2004 2023 ABB All rights...

Page 32: ...ed by robot warranty General The load diagrams include a nominal payload inertia J0 of 15 kgm2 and an extra load of 20 kg IRB 6660 130 3 1 and IRB 6660 100 3 3 and 15 kg IRB 6660 205 1 9 at the upper...

Page 33: ...00 1 10 0 10 0 20 0 30 0 40 0 50 0 60 0 70 140 kg 135 kg 130 kg 125 kg 120 kg 115 kg 110 kg 100 kg 90 kg 80 kg Z m L m xx1000000647 Continues on next page Product specification IRB 6660 33 3HAC087212...

Page 34: ...Z m L m xx1000000650 For wrist down 0o deviation from the vertical line With 20 kg arm load Without extra arm load 150 kg 170 kg Max load 0 496 m 0 414 m Zmax 0 282 m 0 133 m Lmax Continues on next p...

Page 35: ...0 20 0 30 0 40 0 50 0 60 0 70 Z m L m 105 kg 100 kg 95 kg 90 kg 75 kg 80 kg 85 kg 1 20 200 xx1200001284 Continues on next page Product specification IRB 6660 35 3HAC087212 001 Revision A Copyright 20...

Page 36: ...60 1 50 1 40 1 30 1 20 55 kg 75 kg 90 kg 105 kg 120 kg 10 10 Z L 200 xx1200001285 For wrist down 0o deviation from the vertical line With 20 kg arm load Without extra arm load 125 kg 132 kg Max load 0...

Page 37: ...1 1 10 0 20 0 30 0 40 0 50 0 60 0 70 205 kg 175 kg 150 kg 125 kg 100 kg 75 kg Z m L m 200 xx1000000648 Continues on next page Product specification IRB 6660 37 3HAC087212 001 Revision A Copyright 200...

Page 38: ...Z L Z m L m 200 xx1000000649 For wrist down 0o deviation from the vertical line With 15 kg arm load Without extra arm load 205 kg 220 kg Max load 0 442 m 0 442 m Zmax 0 574 m 0 582 m Lmax 38 Product...

Page 39: ...30 3 1 6 Ja6 Load x L2 J0Z 185 kgm2 IRB 6660 205 1 9 Ja6 Load x L2 J0Z 185 kgm2 IRB 6660 100 3 3 xx1000000667 Description Pos Center of gravity A Description Max moment of inertia around the X Y and Z...

Page 40: ...0 3 3 xx1000000668 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 40 Product specification IRB 6660 3HAC087212 001 Rev...

Page 41: ...as well as dynamic loads Furthermore arm loads will influence the permitted load diagram To find the absolute limits of the load diagram use the RobotStudio add in RobotLoad Max torque valid at load M...

Page 42: ...th distance a 500 mm center of gravity in axis 3 extension xx1000000651 Description Pos Center of gravity for permitted extra load 20 kg for IRB 6660 130 3 1 A Center of gravity for permitted extra lo...

Page 43: ...ius m from the center of axis 1 M4 is the total mass kg of the equipment including bracket and harness 500 kg xx1000000653 Description Pos View from above A View from the rear B 710 mm R Product speci...

Page 44: ...re below When mounting on the frame all the three holes 2x2 16 on one side must be used Holes for mounting hip load on frame xx1000000659 Continues on next page 44 Product specification IRB 6660 3HAC0...

Page 45: ...8 mm 490 mm 190 mm 1497 5 mm 128 mm 490 mm 190 mm 885 mm 2 IRB 6660 205 1 9 xx1000000654 Description Pos R750 Right fork lift pocket A Mounting hole upper arm M12 depth 20 4x B Continues on next page...

Page 46: ...0 Robot Tool Flange xx1000000661 Continues on next page 46 Product specification IRB 6660 3HAC087212 001 Revision A Copyright 2004 2023 ABB All rights reserved 1 Description 1 6 2 Mounting of hip load...

Page 47: ...quality When fitting tools on the tool flange only use screws with quality 12 9 For other equipment use suitable screws and tightening torque for your application Product specification IRB 6660 47 3HA...

Page 48: ...default working range for axis 6 can be extended by changing parameter values in the software Option 3111 1 Independent axis can be used for resetting the revolution counter after the axis has been ro...

Page 49: ...E 15 85 807 3102 F 20 50 2415 2596 G Reach m Handling capacity kg Robot Type 3 3 100 IRB 6660 100 3 3 3343 2834 997 1125 1189 645 23 734 940 3092 C 2374 5 300 814 5 1755 5 200 2629 2501 742 1131 B 121...

Page 50: ...1189 1125 C 120 50 23 645 D 120 85 734 940 E 15 85 742 3343 F 20 50 2501 2834 G Reach m Handling capacity kg Robot Type 1 9 205 IRB 6660 205 1 9 xx1000000663 Description Note Max working range A Conti...

Page 51: ...e Figure above 0 0 1794 5 1193 A 20 42 1903 2 575 B 28 42 1162 7 751 5 C 120 50 351 1 632 2 D 120 85 37 9 793 3 E 15 85 914 8 1932 4 F 20 50 1833 1579 6 G 20 0 2083 2 1043 4 H 107 4 85 60 4 997 3 K Pr...

Page 52: ...ecution 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 po...

Page 53: ...s 120 s 150 s 123 s 130 s 110 s IRB 6660 100 3 3 190 s 120 s 150 s 130 s 130 s 130 s IRB 6660 205 1 9 There is a supervision function to prevent overheating in applications with intensive and frequen...

Page 54: ...gory 1 stops as required by EN ISO 10218 1 Annex B are listed in Product specification Robot stopping distances according to ISO 10218 1 3HAC048645 001 54 Product specification IRB 6660 3HAC087212 001...

Page 55: ...1 Protective earth Customer Signals CS 50 V DC 1 A rms 0 24 mm2 14 7x2 14 Singnals twisted pair 50 V DC 1 A rms 0 24 mm2 4 2x2 4 Signals twisted pair and separate shielded Functional Earth FE 10 mm2 F...

Page 56: ...arate shielded Customer bus CBus Profibus 12Mbit s spec 0 14 mm2 2 At bus board Bus signals 50 V DC 1 A rms 0 14 mm2 6 3x2 6 Signals twisted pair Servo motor signals 600 VAC 12 A rms 1 5 mm2 3 At driv...

Page 57: ...0 VAC600 VAC 0 75 mm2 1 Protective earth 2 5 mm2 2 Protective earth Customer Signals CS 50 V DC 1 A rms 0 24 mm2 16 8x2 Signals twisted pair 50 V DC 1 A rms 0 24 mm2 4 2x2 Signals twisted pair and sep...

Page 58: ...s CS 50 V DC 1 A rms 0 24 mm2 16 8x2 Signals twisted pair 50 V DC 1 A rms 0 24 mm2 4 2x2 Signals twisted pair and separate shielded Media Max air pressure 16 bar 230 PSI 12 5 mm inner dia meter 1 Wate...

Page 59: ...ted 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 activi...

Page 60: ...This page is intentionally left blank...

Page 61: ...ions 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 Product s...

Page 62: ...tion Description Option Base 67 IP67 3350 670 Foundry Plus2 67 IP67 3352 10 Requirements The option Foundry Plus2 67 3352 10 requires option Upper arm cover 3316 1 Note Base 67 includes IP67 according...

Page 63: ...ry cable guard for manipulator cable harness A Foundry cable guard for DressPack B Requirements The option Foundry Cable Guard requires option Upper arm cover 3316 1 Continues on next page Product spe...

Page 64: ...n Foundry Plus2 3352 10 This option is mandatory to order with the option Foundry Cable Guard 3315 1 Forklift device The manipulator can be delivered with forklift devices allowing a forklift to be us...

Page 65: ...ator cable length Lengths Option 7 m 3200 2 15 m 3200 3 22 m 3200 4 30 m 3200 5 Product specification IRB 6660 65 3HAC087212 001 Revision A Copyright 2004 2023 ABB All rights reserved 2 Variants and o...

Page 66: ...formation Description Option MH Parallel 3325 11 Includes parallel signals Supports ProfiNet EtherNetIP MH EtherNet 3325 13 66 Product specification IRB 6660 3HAC087212 001 Revision A Copyright 2004 2...

Page 67: ...xample of how a connector kit and its parts can look like xx1300000223 Continues on next page Product specification IRB 6660 67 3HAC087212 001 Revision A Copyright 2004 2023 ABB All rights reserved 2...

Page 68: ...1 pcs Multicontact female Harting Type EE 8 pin 1 pcs Multicontact female Harting For 1 5 mm2 10 pcs Female crimp contacts For 0 5 mm2 10 pcs Female crimp contacts For 1 0 mm2 10 pcs Female crimp cont...

Page 69: ...sories to complete connector Assembly instruction Product specification IRB 6660 69 3HAC087212 001 Revision A Copyright 2004 2023 ABB All rights reserved 2 Variants and options 2 4 2 1 Base Connector...

Page 70: ...Shell size 16 1 pcs UTOW Pin connector 26p bayonet RM18W3K 0 5 0 82 mm2 26 pcs Pin CBUS UTOW61210PH Shell size 12 1 pcs UTOW Pin connector 10p bayonet RM18W3K 0 5 0 82 mm2 10 pcs Pin Ethernet Harting...

Page 71: ...upies 1 Ethernet port Note Description Option 7 m 3202 2 15 m 3202 3 30 m 3202 5 Servo cable 1 axis Length Note Description Option 7 m 3206 2 15 m 3206 3 30 m 3206 5 Product specification IRB 6660 71...

Page 72: ...nts Standard warranty 12 months 438 2 Standard warranty extended with 18 months from end date of the standard warranty Warranty terms and con ditions apply Contact Customer Service in case of other re...

Page 73: ...category 0 stop 54 category 1 stop 54 compensation parameters 28 F fine calibration 27 O options 61 P product standards 17 S safety standards 17 standards 17 ANSI 17 CAN 17 standard warranty 72 stock...

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Page 76: ...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 1...

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