ABB IRB 920 Page 25 Product Specification Download | Manualshive

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1.4.2 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 920

.

xx2100000931

Description

Posi-
tion

Description

Posi-
tion

Axis 2

2

Axis 1

1

Axis 4

4

Axis 3

3

Product specification - IRB 920

25

3HAC075723-001 Revision: A

© Copyright 2021 ABB. All rights reserved.

1 Description

1.4.2 Fine calibration

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Summary of Contents for IRB 920

Page 1: ...ROBOTICS Product specification IRB 920...

Page 2: ...Trace back information Workspace 21C version a1 Checked in 2021 09 23 Skribenta version 5 4 005...

Page 3: ...oduct specification IRB 920T 6 0 45 IRB 920T 6 0 55 IRB 920T 6 0 65 OmniCore Document ID 3HAC075723 001 Revision A Copyright 2021 ABB All rights reserved Specifications subject to change without notic...

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: ...lute Accuracy option 28 1 5 Load diagrams 28 1 5 1 Introduction to load diagram 29 1 5 2 Diagrams 32 1 5 3 Maximum load and moment of inertia 33 1 6 Fitting equipment on the robot robot dimensions 37...

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

Page 7: ...cifications are used to find data and performance about the product for example to decide which product to buy How to handle the product is described in the product manual The specification is intende...

Page 8: ...ubrication in gearboxes 3HAC065041 001 Technical reference manual System parameters Revisions Description Revision First edition A 8 Product specification IRB 920 3HAC075723 001 Revision A Copyright 2...

Page 9: ...t tools peripheral equipment and the robot itself Operating system The robot is equipped with the OmniCore C30 C90 controller and robot control software RobotWare RobotWare supports every aspect of th...

Page 10: ...0000931 Description Pos Description Pos Axis 2 2 Axis 1 1 Axis 4 4 Axis 3 3 10 Product specification IRB 920 3HAC075723 001 Revision A Copyright 2021 ABB All rights reserved 1 Description 1 1 1 Introd...

Page 11: ...owing robot versions are available Reach m Handling capacity kg Robot type 0 45 m 6 kg IRB 920T 6 0 45 0 55 m 6 kg IRB 920T 6 0 55 0 65 m 6 kg IRB 920T 6 0 65 Product specification IRB 920 11 3HAC0757...

Page 12: ...920T 6 0 55 23 kg IRB 920T 6 0 65 24 kg Note The weight does not include tools and other equipment fitted on the robot Loads on foundation robot Tz Fxy Fz Txy xx2000001168 Force in any direction in P...

Page 13: ...ue xy 900 Nm 150 Nm Torque z Requirements foundation The table shows the requirements for the foundation where the weight of the installed robot is included Note Value Requirement Flat foundations giv...

Page 14: ...the servo control This might be a problem depending on the requirements from the applications If this is a problem the robot needs to be isolated from the environment Storage conditions robot The tabl...

Page 15: ...Cube Max velocity W 6 0 65 6 0 55 6 0 45 Robot in calibration position 75 79 85 Brakes engaged W 119 114 136 Brakes disengaged W E1 E4 E3 E2 A xx1000000101 Description Pos 250 mm A Dimensions for rear...

Page 16: ...ersion Robots with protection class IP30 X 260 116 73 170 149 164 Z 201 5 193 53 xx2000001146 0 65_0 3 0 65_0 18 0 55_0 3 0 55_0 18 0 45_0 3 0 45_0 18 390mm 390mm 290mm 290mm 190mm 190mm X 716 5 596 5...

Page 17: ...100 Safety of machinery Safety related parts of control systems Part 1 General principles for design ISO 13849 1 2006 Safety of machinery Emergency stop Principles for design ISO 13850 Safety of machi...

Page 18: ...1 2012i Arc welding equipment Part 10 EMC requirements IEC 60974 10 2014i Classification of air cleanliness ISO 14644 1 2015ii Degrees of protection provided by enclosures IP code IEC 60529 1989 A2 2...

Page 19: ...t of 6 kg including payload can be mounted on the lower end of the ball screw spline shaft axis 4 See Load diagrams on page 28 Extra loads The outer arm can handle an additional load of 0 5 kg See Fit...

Page 20: ...ogo ABB logo ABB logo C F D A B E G A xx2000001143 ABB logo Big size A ABB logo Small size B Rating label C Calibration label D UL label E WEEE label F Read manual and caution G 20 Product specificati...

Page 21: ...lass 200HV Suitable washer 2 pcs D6 ISO 2338 6m6x20 A1 Guide pins 56 Nm 5 6 Nm Tightening torque 0 1 500 mm Level surface requirements Hole configuration base This illustration shows the hole configur...

Page 22: ...version A 53 136 8 A 108 3 5 2 5 76 2 59 4x 6H7 2 140 140 13 5 6H7 77 xx2000001148 22 Product specification IRB 920 3HAC075723 001 Revision A Copyright 2021 ABB All rights reserved 1 Description 1 3...

Page 23: ...al Absolute accuracy calibration data is found on the SMB serial measurement board in the robot A robot calibrated with Absolute accuracy has the option information printed on its name plate To regai...

Page 24: ...o a 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 th...

Page 25: ...t is aligned For detailed information on calibration of the robot see Product manual IRB 920 xx2100000931 Description Posi tion Description Posi tion Axis 2 2 Axis 1 1 Axis 4 4 Axis 3 3 Product specif...

Page 26: ...ramming Re use of programs between applications The option Absolute Accuracy is integrated in the controller algorithms and does not need external equipment or calculation Note The performance data is...

Page 27: ...function based on robtargets e g MoveL and ModPos on robtargets Reorientation jogging Linear jogging Tool definition 4 5 6 point tool definition room fixed TCP stationary tool Work object definition A...

Page 28: ...mine 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...

Page 29: ...0 0 10 0 20 0 30 Z m L m 6 KG 5 KG 4 KG 3 KG 2 KG 1 KG xx2000001807 Description 6 kg Max load 0 102 m Zmax 0 115 m Lmax Continues on next page Product specification IRB 920 29 3HAC075723 001 Revision...

Page 30: ...30 Z m L m 6 KG 5 KG 4 KG 3 KG 2 KG 1 KG xx2000001808 Description 6 kg Max load 0 102 m Zmax 0 115 m Lmax Continues on next page 30 Product specification IRB 920 3HAC075723 001 Revision A Copyright 2...

Page 31: ...0 10 0 20 0 30 Z m L m 6 KG 5 KG 4 KG 3 KG 2 KG 1 KG xx2000001809 Description 6 kg Max load 0 102 m Zmax 0 115 m Lmax Product specification IRB 920 31 3HAC075723 001 Revision A Copyright 2021 ABB All...

Page 32: ...n page 28 Full movement Max value Robot variant Axis J4 Mass x L2 J0Z 0 05 kgm2 IRB 920T 6 0 45 4 J4 Mass x L2 J0Z 0 05 kgm2 IRB 920T 6 0 55 J4 Mass x L2 J0Z 0 12 kgm2 IRB 920T 6 0 65 xx1900001317 Des...

Page 33: ...164 xx2000001145 Illustration for undeneath outlet cable version X 260 116 73 170 149 164 Z 201 5 193 53 xx2000001146 0 65_0 3 0 65_0 18 0 55_0 3 0 55_0 18 0 45_0 3 0 45_0 18 390mm 390mm 290mm 290mm 1...

Page 34: ...allowed arm load depends on center of gravity of arm load and robot payload Holes for fitting extra equipment Illustration for rear outlet cable version X 10 33 260 303 20 Y 8xM5 10 192 20 240 5 Z 20...

Page 35: ...of end effector to the ball screw spline shaft An end effector can be attached to the lower end of the shaft of the ball screw spline unit The dimensions for fitting the end effector is shown in the f...

Page 36: ...the tool flange only use screws with quality 12 9 For other equipment use suitable screws and tightening torque for your application 36 Product specification IRB 920 3HAC075723 001 Revision A Copyrig...

Page 37: ...nd 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 depend on...

Page 38: ...145 G D C B E P Axis 4 rotation center 400 H A P xx2000001137 0 65_0 3 0 65_0 18 0 55_0 3 0 55_0 18 0 45_0 3 0 45_0 18 300mm 180mm 300mm 180mm 300mm 180mm A Axis3 650mm 550mm 450mm B Continues on next...

Page 39: ...67 8mm 150 9mm E 150 F Axis1 145 G Axis2 400 H Axis4 Working range Note Working range Axis 150 Axis 1 145 Axis 2 180 300 Axis 3 Default value 400 Axis 4 Product specification IRB 920 39 3HAC075723 001...

Page 40: ...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 ex...

Page 41: ...s IRB 920T 6 0 55 2 500 s 1 200 mm s 780 s 396 s IRB 920T 6 0 65 There is a supervision function to prevent overheating in applications with intensive and frequent movements high duty cycle Axis reso...

Page 42: ...ategory 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 42 Product specification IRB 920 3HAC075723 0...

Page 43: ...r Description Connection Position Air hose with outer diamet er 4 mm 2 pcs 4 Max 6 bar Air A Air hose with outer diamet er 6 mm 2 pcs 30 V 1 5 A 12 wires Customer power signal C1 B 30 V 1 A or 1 Gbits...

Page 44: ...tion covers 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 re...

Page 45: ...ing radius is 10 times the cable diameter for static floor cables A B xx1600002016 Diameter A Diameter x10 B Product specification IRB 920 45 3HAC075723 001 Revision A Copyright 2021 ABB All rights re...

Page 46: ...This page is intentionally left blank...

Page 47: ...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 48: ...escription Option 180 mm 3312 4 300 mm 3312 6 Manipulator color Description Option ABB Graphite White std 209 202 Note Notice that delivery time for painted spare parts will increase for none standard...

Page 49: ...e Straight arm Ethernet connector kits 3306 1 Male type Angled arm Ethernet connector kits 3307 1 Straight connector kits Angled connector kits its Straight Ethernet connector kits kits Angled Etherne...

Page 50: ...Conditions Note This description above is not applicable for option Stock warranty 438 8 Description Type Option Standard warranty is 12 months from Customer Delivery Date or latest 18 months after F...

Page 51: ...rranty 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 Roboti...

Page 52: ...uires 3303 1 Parallel Air OR 3303 2 Ethernet Parallel Ethernet cable Length Lengths Option 7 m M12 X coded to RJ45 3202 2 15 m M12 X coded to RJ45 3202 3 Requirements The option Ethernet cable Length...

Page 53: ...sic software and software options for robot and PC For more information see Application manual Controller software OmniCore Product specification OmniCore C line Product specification IRB 920 53 3HAC0...

Page 54: ...This page is intentionally left blank...

Page 55: ...t 33 O operating conditions 14 options 47 P product standards 17 protection classes 14 protection type 14 R requirements on foundation 13 robot dimensions 33 equipment fitting 33 protection class 14 p...

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Page 58: ...e 47 22 87 2000 ABB Engineering Shanghai Ltd Robotics Discrete Automation No 4528 Kangxin Highway PuDong District SHANGHAI 201319 China Telephone 86 21 6105 6666 ABB Inc Robotics Discrete Automation 1...

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