ABB IRB 1090 Скачать руководство пользователя страница 41

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Top view of working range

1160

xx2300001050

Working range

Note

Working range

Axis

±230°

Axis 1

-115°/+113°

Axis 2

-205°/+55°

Axis 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 specification - IRB 1090

3HAC088057-001 Revision: B

1 Description

1.8.1 Working range

Continued

Содержание IRB 1090

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

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

Страница 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...

Страница 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...

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Страница 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...

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Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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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Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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Страница 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...

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Страница 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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Страница 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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