ABB IRB 910INV Product Specification Download Page 36

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1.6.2 Fine calibration

General

Fine calibration is made by moving the axes so that the synchronization mark on
each joint is aligned. For detailed information on calibration of the robot see

Product

manual - IRB 910INV

xx1900000084

Description

Posi-
tion

Description

Posi-
tion

Axis 2

Axis 1

Axis 4

Axis 3

Product specification - IRB 910INV

3HAC068057-001 Revision: M

1 Description

1.6.2 Fine calibration

Summary of Contents for IRB 910INV

Page 1: ...ROBOTICS Product specification IRB 910INV...

Page 2: ...Trace back information Workspace 23C version a7 Checked in 2023 09 21 Skribenta version 5 5 019...

Page 3: ...Product specification IRB 910INV 3 0 35 IRB 910INV 6 0 55 OmniCore Document ID 3HAC068057 001 Revision M Copyright 2019 2023 ABB All rights reserved Specifications subject to change without notice...

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: ...39 1 7 Maintenance and troubleshooting 39 1 7 1 Introduction to maintenance and trouble shooting 40 1 8 Robot motion 41 1 8 1 Working range and type of motion 43 1 8 2 Performance according to ISO 92...

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

Page 7: ...s and product personnel Sales and marketing personnel Order and customer service personnel References Document ID Document name 3HAC065034 001 Product specification OmniCore C line 3HAC079823 001 Prod...

Page 8: ...n Removed option 438 4 5 7 Option 3209 1 added G Published in release R21D The following updates are done in this revi sion Supported controller OmniCore E10 is added H Published in release R22A The f...

Page 9: ...RB 910INV is suitable for use in clean rooms fulfilling the Air Cleanliness Class 1 according to ISO 14644 1 when operated at a capacity of 50 The robot IRB 910INV is suitable for use in clean rooms f...

Page 10: ...ery aspect of the robot system such as motion control development and execution of application programs communication etc See Operating manual OmniCore Safety The safety standards are valid for the co...

Page 11: ...ption Posi tion Description Posi tion Axis 2 2 Axis 1 1 Axis 4 4 Axis 3 3 Product specification IRB 910INV 11 3HAC068057 001 Revision M Copyright 2019 2023 ABB All rights reserved 1 Description 1 1 1...

Page 12: ...no other mounting position is permitted Reach m Maximum handling capacity kg Robot type 0 35 m 3 kg IRB 910INV 3 0 35 0 55 m 6 kg IRB 910INV 6 0 55 Continues on next page 12 Product specification IRB...

Page 13: ...not affect the payload or reach but it can have a negative impact on performance and lifetime The actual value must be set in the system parameters Note The actual mounting angle must always be confi...

Page 14: ...t Flat foundations give better repeatability of the resolver calibration compared to original settings on delivery from ABB 0 1 500 mm Flatness of foundation surface The value for levelness aims at th...

Page 15: ...ient temperature 70 C Maximum ambient temperature less than 24 hrs 95 at constant temperature gaseous only Maximum ambient humidity Operating conditions robot The table shows the allowed operating con...

Page 16: ...910INV 6 0 55 IRB 910INV 3 0 35 Robot in 0 degree position 81 74 Brakes engaged W 115 102 Brakes disengaged W Power consumption with OmniCore E10 IRB 910INV 6 0 55 IRB 910INV 3 0 35 Robot in 0 degree...

Page 17: ...135 65 xx1800002818 Robots with protection class IP54 or with protection type Clean Room 53 16 h7 30 0 458 213 101 5 0 175 22 5 228 255 200 180 134 0 35 53 123 135 65 xx1900001540 Product specificati...

Page 18: ...ction class IP54 or with protection type Clean Room The figure shows the dimension of the IRB 910INV 6 0 55 for Clean Room IP54 58 30 0 22 5 101 5 281 543 213 0 275 355 200 180 134 0 35 123 135 53 65...

Page 19: ...ric standards Immunity standard for industrial environments IEC 61000 6 2 Electromagnetic compatibility EMC Part 6 4 Generic standards Emission standard for industrial environments IEC 61000 6 4 Safet...

Page 20: ...epending on the robot variant an end effector with max weight of 3 kg or 6 kg including payload can be mounted on the lower end of the ball screw spline shaft axis 4 See Load diagram on page 25 20 Pro...

Page 21: ...t not be located or operated in an explosive environment Working range limitations EPS will not be selectable and no mechanical limitations available Relative humidity Relative humidity Description Ma...

Page 22: ...123 82 5 82 5 90 135 65 A A 6 x M6 5 H7 0 012 0 5 H7 0 012 0 4xR10 0 90 90 0 35 123 145 53 75 83 83 6 6 6 6 15 0 8 12 A A xx1800002817 Maintenance window Opening to access inner arm s cover is recomm...

Page 23: ...9 Quality 12 x 6 4 x 1 6 steel hardness class 300HV Suitable washer 2 pcs D5x20 ISO 2338 5m6x20 A1 Guide pins 11 Nm 1 1 Nm Tightening torque Minimum 14 mm for ground with material yield strength 150 M...

Page 24: ...correct load parameters The routine automatically defines the tool and the load See Operating manual OmniCore for detailed information WARNING Robots running with incorrect load data and or with load...

Page 25: ...5 0 00 0 10 0 20 0 30 0 00 0 10 0 20 Z m L m 1 kg 2 kg 3 kg xx1800003275 Continues on next page Product specification IRB 910INV 25 3HAC068057 001 Revision M Copyright 2019 2023 ABB All rights reserve...

Page 26: ...30 0 40 0 50 0 00 0 10 0 20 0 30 Z m L m 1 kg 2 kg 3 kg 4 kg 5 kg 6 kg xx1800003276 26 Product specification IRB 910INV 3HAC068057 001 Revision M Copyright 2019 2023 ABB All rights reserved 1 Descrip...

Page 27: ...e Load diagram on page 25 Full movement Max value Robot variant Axis J4 Mass x L2 Joz 0 05 kgm2 IRB 910INV 3 0 35 4 J4 Mass x L2 Joz 0 12 kgm2 IRB 910INV 6 0 55 xx1900001317 Description Position Cente...

Page 28: ...ation of spacial acceleration values are listed XYZ stands for 3 dimensional movements while XY stands for horizontal movements Controlled Motion Max acceleration at nominal load COG m s2 E stop Max a...

Page 29: ...for fitting the end effector is shown in the following figure Note Mounting of other equipment on the IRB 910INV may damage the gearboxes A B C D xx1800002819 Conical hole A Shaft diameter B Through...

Page 30: ...7 140 D 11 16h7 35 30 15 E E D 3x90 7 5 120 Q E E 10 10 Q xx1900001315 Continues on next page 30 Product specification IRB 910INV 3HAC068057 001 Revision M Copyright 2019 2023 ABB All rights reserved...

Page 31: ...35 30 15 E E D 3x90 7 5 120 Q E E 10 10 Q xx1900001544 Continues on next page Product specification IRB 910INV 31 3HAC068057 001 Revision M Copyright 2019 2023 ABB All rights reserved 1 Description 1...

Page 32: ...57 7 190 H 9 T I I 10 10 T 14 20h7 30 15 40 I I H 3x90 xx1900001316 Continues on next page 32 Product specification IRB 910INV 3HAC068057 001 Revision M Copyright 2019 2023 ABB All rights reserved 1 D...

Page 33: ...n 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 910INV 33 3HAC068057 0...

Page 34: ...tion 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 boa...

Page 35: ...robot with the option Absolute Accuracy a new absolute accuracy calibration is required in order to establish full performance For most cases after replacements that do not include taking apart the ro...

Page 36: ...ligned For detailed information on calibration of the robot see Product manual IRB 910INV xx1900000084 Description Posi tion Description Posi tion Axis 2 2 Axis 1 1 Axis 4 4 Axis 3 3 36 Product specif...

Page 37: ...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 A...

Page 38: ...or example 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 inc...

Page 39: ...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...

Page 40: ...leration of axes 1 2 and 4 may be reduced based on the actual position and speed of the axes and the stabilization time for final positioning may also be longer when moving the robot horizontally Cont...

Page 41: ...om 720 720 Rotation motion Axis 4 Illustration working range and turning radius This illustration shows the unrestricted working range and turning radius C B A D 2 2 5 2 2 5 2 2 5 2 2 5 xx1800002809 I...

Page 42: ...Room IP54 IP30 Clean Room IP54 IP30 275 275 175 175 C 150 190 100 140 D 42 Product specification IRB 910INV 3HAC068057 001 Revision M Copyright 2019 2023 ABB All rights reserved 1 Description 1 8 1 W...

Page 43: ...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...

Page 44: ...frequent movements Down force Z stroke IRB 910INV 6 0 55 IRB 910INV 3 0 35 Robot Version 120 N 120 N Max down force Z stroke Suggested instruction Force increment speedii mm s Force maintaining duty r...

Page 45: ...ot The stop categories 0 and 1 are according to IEC 60204 1 Note The category 0 stop is not necessarily the worst case depending on load speed application wear etc Note For SCARA robots without brakes...

Page 46: ...ta is presented for the respective robot variant The extension zone outer limits are defined by the TCP0 position for the stated angles xx2300000863 Axis 1 xx2300000864 Axis 2 Continues on next page 4...

Page 47: ...depending 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 pres...

Page 48: ...00001041 The tcp speed is the actual speed when the stop is initiated which is not necessarily the programmed speed 48 Product specification IRB 910INV 3HAC068057 001 Revision M Copyright 2019 2023 AB...

Page 49: ...entification 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 ca...

Page 50: ...or all installed emergency stop buttons until the identified hazards due to stopping distance and time for axes have been verified Example from TuneMaster xx1600000386 50 Product specification IRB 910...

Page 51: ...tegory 0 stop Stop time Distance Axis 0 14 s 66 5 1 0 11 s 68 0 2 0 1 s 86 8 mm 3 The axis has no brake Category 1 extension zones For definitions of the zones see Extension zones on page 46 The zone...

Page 52: ...ion zone 0 stopping distance and stopping time Continues on next page 52 Product specification IRB 910INV 3HAC068057 001 Revision M Copyright 2019 2023 ABB All rights reserved 1 Description 1 9 3 IRB...

Page 53: ...ion zone 1 stopping distance and stopping time Continues on next page Product specification IRB 910INV 53 3HAC068057 001 Revision M Copyright 2019 2023 ABB All rights reserved 1 Description 1 9 3 IRB...

Page 54: ...ion zone 2 stopping distance and stopping time Continues on next page 54 Product specification IRB 910INV 3HAC068057 001 Revision M Copyright 2019 2023 ABB All rights reserved 1 Description 1 9 3 IRB...

Page 55: ...ion zone 0 stopping distance and stopping time Continues on next page Product specification IRB 910INV 55 3HAC068057 001 Revision M Copyright 2019 2023 ABB All rights reserved 1 Description 1 9 3 IRB...

Page 56: ...xis 3 Extension zone 0 stopping distance and stopping time 56 Product specification IRB 910INV 3HAC068057 001 Revision M Copyright 2019 2023 ABB All rights reserved 1 Description 1 9 3 IRB 910INV 3 0...

Page 57: ...tegory 0 stop Stop time Distance Axis 0 24 s 74 1 1 0 19 s 70 4 2 0 1 s 84 9 mm 3 The axis has no brake Category 1 extension zones For definitions of the zones see Extension zones on page 46 The zone...

Page 58: ...zone 0 stopping distance and stopping time Continues on next page 58 Product specification IRB 910INV 3HAC068057 001 Revision M Copyright 2019 2023 ABB All rights reserved 1 Description 1 9 4 IRB 910I...

Page 59: ...zone 1 stopping distance and stopping time Continues on next page Product specification IRB 910INV 59 3HAC068057 001 Revision M Copyright 2019 2023 ABB All rights reserved 1 Description 1 9 4 IRB 910I...

Page 60: ...zone 2 stopping distance and stopping time Continues on next page 60 Product specification IRB 910INV 3HAC068057 001 Revision M Copyright 2019 2023 ABB All rights reserved 1 Description 1 9 4 IRB 910I...

Page 61: ...zone 0 stopping distance and stopping time Continues on next page Product specification IRB 910INV 61 3HAC068057 001 Revision M Copyright 2019 2023 ABB All rights reserved 1 Description 1 9 4 IRB 910I...

Page 62: ...3 Extension zone 0 stopping distance and stopping time 62 Product specification IRB 910INV 3HAC068057 001 Revision M Copyright 2019 2023 ABB All rights reserved 1 Description 1 9 4 IRB 910INV 3 0 35 I...

Page 63: ...y 0 stop Stop time Distance Axis 0 2 s 55 5 1 0 16 s 78 3 2 0 12 s 99 2 mm 3 The axis has no brake Category 1 extension zones For definitions of the zones see Extension zones on page 46 The zone borde...

Page 64: ...ion zone 0 stopping distance and stopping time Continues on next page 64 Product specification IRB 910INV 3HAC068057 001 Revision M Copyright 2019 2023 ABB All rights reserved 1 Description 1 9 5 IRB...

Page 65: ...ion zone 1 stopping distance and stopping time Continues on next page Product specification IRB 910INV 65 3HAC068057 001 Revision M Copyright 2019 2023 ABB All rights reserved 1 Description 1 9 5 IRB...

Page 66: ...ion zone 2 stopping distance and stopping time Continues on next page 66 Product specification IRB 910INV 3HAC068057 001 Revision M Copyright 2019 2023 ABB All rights reserved 1 Description 1 9 5 IRB...

Page 67: ...ion zone 0 stopping distance and stopping time Continues on next page Product specification IRB 910INV 67 3HAC068057 001 Revision M Copyright 2019 2023 ABB All rights reserved 1 Description 1 9 5 IRB...

Page 68: ...xis 3 Extension zone 0 stopping distance and stopping time 68 Product specification IRB 910INV 3HAC068057 001 Revision M Copyright 2019 2023 ABB All rights reserved 1 Description 1 9 5 IRB 910INV 6 0...

Page 69: ...0 stop Stop time Distance Axis 0 3 s 60 8 1 0 27 s 76 3 2 0 12 s 102 6 mm 3 The axis has no brake Category 1 extension zones For definitions of the zones see Extension zones on page 46 The zone borde...

Page 70: ...zone 0 stopping distance and stopping time Continues on next page 70 Product specification IRB 910INV 3HAC068057 001 Revision M Copyright 2019 2023 ABB All rights reserved 1 Description 1 9 6 IRB 910I...

Page 71: ...zone 1 stopping distance and stopping time Continues on next page Product specification IRB 910INV 71 3HAC068057 001 Revision M Copyright 2019 2023 ABB All rights reserved 1 Description 1 9 6 IRB 910I...

Page 72: ...zone 2 stopping distance and stopping time Continues on next page 72 Product specification IRB 910INV 3HAC068057 001 Revision M Copyright 2019 2023 ABB All rights reserved 1 Description 1 9 6 IRB 910I...

Page 73: ...zone 0 stopping distance and stopping time Continues on next page Product specification IRB 910INV 73 3HAC068057 001 Revision M Copyright 2019 2023 ABB All rights reserved 1 Description 1 9 6 IRB 910I...

Page 74: ...3 Extension zone 0 stopping distance and stopping time 74 Product specification IRB 910INV 3HAC068057 001 Revision M Copyright 2019 2023 ABB All rights reserved 1 Description 1 9 6 IRB 910INV 6 0 55 I...

Page 75: ...821 Value Number Description Connection Position Outer diameter of air hose 4 mm X2 4 Max 6 bar Air A Outer diameter of air hose 6 mm X2 30 V 1 5 A 8 wiresi Customer power signal C1 B 30 V 1 A or 1 Gb...

Page 76: ...are delivered together with the robot and must be well fitted to the connectors in any application requiring water and dust proofing Always remember to refit the protection covers after removing them...

Page 77: ...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 78: ...ea is IP20 Note Base 30 includes IP30 according to standard IEC 60529 Base 54 includes IP54 according to standard IEC 60529 Clean Room class 1 includes ISO class 1 standard according to DIN EN ISO 146...

Page 79: ...to ABB manuals to be performed by ABB If due to customer restrains no data can be analyzed in the ABB Ability service Condition Monitoring Diagnostics for robots with OmniCore controllers and ABB has...

Page 80: ...ll be accepted for warranties that occurred be fore the end of stock warranty Standard warranty com mences automatically after 6 months from Factory Shipment Date or from activation date of standard w...

Page 81: ...Option 3 m 3200 1 7 m 3200 2 15 m 3200 3 xx2100001122 xx2100001416 Continues on next page Product specification IRB 910INV 81 3HAC068057 001 Revision M Copyright 2019 2023 ABB All rights reserved 2 Sp...

Page 82: ...connector 3209 1 xx2100001123 xx2100001124 xx2100001417 Continues on next page 82 Product specification IRB 910INV 3HAC068057 001 Revision M Copyright 2019 2023 ABB All rights reserved 2 Specification...

Page 83: ...allel Air and occupies 1 Ethernet port Lengths Option 7 m 3202 2 15 m 3202 3 Mains cable Description Lengths Option Cable assembly with CEE7 VII line side plug EU mains cable 3 m 3203 1 Cable assembly...

Page 84: ...tail including service and safety instructions Tip All documents can be found via myABB Business Portal www abb com myABB 84 Product specification IRB 910INV 3HAC068057 001 Revision M Copyright 2019 2...

Page 85: ...options for robot and PC For more information see Application manual Controller software OmniCore Product specification OmniCore C line and Product specification OmniCore E line Product specification...

Page 86: ...This page is intentionally left blank...

Page 87: ...rating conditions 15 options 77 P product standards 19 protection classes 15 protection type 15 R requirements on foundation 14 robot protection class 15 protection types 15 technical data 13 S safety...

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Page 90: ...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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