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ABB IRB 120 Скачать руководство пользователя страница 37

1.8.4 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

).

Product specification - IRB 120

37

3HAC035960-001 Revision: T

© Copyright 2010-2019 ABB. All rights reserved.

1 Description

1.8.4 Robot stopping distances and times

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Содержание IRB 120

Страница 1: ...ROBOTICS Product specification IRB 120...

Страница 2: ...Trace back information Workspace OmniCore and R19C version a16 Checked in 2019 09 16 Skribenta version 5 3 012...

Страница 3: ...Product specification IRB 120 IRC5 Document ID 3HAC035960 001 Revision T Copyright 2010 2019 ABB All rights reserved Specifications subject to change without notice...

Страница 4: ...y by ABB for losses damages 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 an...

Страница 5: ...ion methods 29 1 6 2 Fine calibration 30 1 6 3 Absolute Accuracy option 32 1 7 Maintenance and trouble shooting 32 1 7 1 Introduction to maintenance and trouble shooting 33 1 8 Robot motion 33 1 8 1 W...

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

Страница 7: ...t ID Reference 3HAC047400 001 Product specification Controller IRC5 IRC5 with main computer DSQC1000 3HAC050945 001 Product specification Controller software IRC5 IRC5 with main computer DSQC1000 and...

Страница 8: ...ication option added Axis Calibration method added N Published in release R17 1 The following updates are done in this revision Minor corrections update Restriction of Load diagram added Add options o...

Страница 9: ...ce work possible to perform without cracking the paint The robot is painted with four layers of polyurethane paint The last layer being a varnish over labels in order to simplify cleaning The paint ha...

Страница 10: ...robot manipulator and controller Additional functionality For additional functionality the robot can be equipped with optional software for application support for example gluing and welding communica...

Страница 11: ...acc to the work ing space Machinery directive 2006 42 EG The sound pressure level outside Airborne noise level Power consumption Path E1 E2 E3 E4 in the ISO Cube maximum load Power consumption kW Typ...

Страница 12: ...0256 Description Position Minimum turning radius axis 1 R 121 mm A Minimum turning radius axis 3 R 147 mm B Minimum turning radius axis 4 R 70 mm C 12 Product specification IRB 120 3HAC035960 001 Revi...

Страница 13: ...9283 1998 Classification of air cleanliness EN ISO 14644 1 2015i Ergonomics of the thermal environment Part 1 EN ISO 13732 1 2008 EMC Generic emission EN 61000 6 4 2007 A1 2011 IEC 61000 6 4 2006 A1...

Страница 14: ...Two hand control devices Functional aspects Principles for design EN 574 1996 A1 2008 14 Product specification IRB 120 3HAC035960 001 Revision T Copyright 2010 2019 ABB All rights reserved 1 Descript...

Страница 15: ...d on the robot s mounting flange axis 6 Other equipment weighing a maximum of 0 3 kg can be mounted on the upper arm For more information about mounting of extra equipment see Figure on next page Cont...

Страница 16: ...ontroller 25 C 13 F to 55 C 131 F Standard Complete robot during transportation and storage up to 70 C 158 F Standard For short periods not ex ceeding 24 hours i At low environmental temperature 10 C...

Страница 17: ...Mounted Max load emergency stop Endurance load in operation Force 735 N 470 N Force xy 0 630 N 0 200 N Force z 450 Nm 240 Nm Torque xy 175 Nm 90 Nm Torque z Suspended Max load emergency stop Endurance...

Страница 18: ...rque Mxy can occur in any direction in the XY plane of the base coordinate system The same applies to the transverse force Fxy Continues on next page 18 Product specification IRB 120 3HAC035960 001 Re...

Страница 19: ...shers for securing the robot at installation site Description Specification M10 x 25 installation directly on foundation Attachment bolts 4 pcs D 6x20 Guide pins 2 pcs 10 5 x 20 x 2 Washers 4 pcs Qual...

Страница 20: ...by robot warranty General The load diagram includes a nominal pay load inertia J0 of 0 012 kgm2 and an extra load of 0 3 kg at the upper arm housing At different moment of inertia the load diagram wi...

Страница 21: ...2 kg 1 5 kg 1 kg L m Z m 0 05 0 10 0 15 0 20 0 00 0 05 0 10 0 15 0 20 0 25 0 30 0 00 xx0900000370 Continues on next page Product specification IRB 120 21 3HAC035960 001 Revision T Copyright 2010 2019...

Страница 22: ...0o Z L 10 o 10 o xx0900000371 Description 4 2 kg Max load 0 119 m Zmax 0 022 m Lmax 22 Product specification IRB 120 3HAC035960 001 Revision T Copyright 2010 2019 ABB All rights reserved 1 Description...

Страница 23: ...kgm2 IRB 120 T 3 0 6 6 xx0800000458 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 Limited axis 5 center line down Ma...

Страница 24: ...avity within the load diagram since those also are limited by main axes torques as well as dynamic loads Also arm loads will influence the permitted load diagram please contact your local ABB organiza...

Страница 25: ...marked load areas The robot is supplied with holes for mounting of extra equipment See figures in Holes for mounting extra equipment on page 26 20 100 70 70 172 80 150 40 40 1 5 0 B A xx0900000369 Ma...

Страница 26: ...ng extra equipment Upper arm xx0900000259 Continues on next page 26 Product specification IRB 120 3HAC035960 001 Revision T Copyright 2010 2019 ABB All rights reserved 1 Description 1 5 1 Holes for mo...

Страница 27: ...0 H 7 0 6 4 0 4X 90 4xM5 8 5 H7 0 0 012 7 4 5 3 1 5 F F 0 25 0 04 xx0900000261 Product specification IRB 120 27 3HAC035960 001 Revision T Copyright 2010 2019 ABB All rights reserved 1 Description 1 5...

Страница 28: ...i The robot is calibrated by either manual calibration or Axis Calibration at factory Always use the same calibration method as used at the factory Information about valid calibration method is found...

Страница 29: ...is 3 Axis 4 Axis 5 Axis 6 xx0900000262 Position Calibration All axes 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...

Страница 30: ...at is included Every Absolute Accuracy robot is delivered with compensation parameters saved on the robot s serial measurement board a birth certificate representing the Absolute Accuracy measurement...

Страница 31: ...tional axis or track motion RAPID instructions There are no RAPID instructions included in this option MultiMove If the main robot in a MultiMove system has the Absolute Accuracy option it opens up Ab...

Страница 32: ...ed 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 activit...

Страница 33: ...X Pos 1 Pos 0 Pos 7 Pos 8 Pos 3 Pos 4 Pos 2 Pos 6 Pos 5 Z xx0900000263 Angle degrees Position at wrist center mm Posi tion Axis 3 Axis 2 Z X 0 0 630 mm 302 mm A 77 0 870 mm 0 mm B 70 0 300 mm 169 mm...

Страница 34: ...70 to 110 Arm motion Axis 3 160 to 160 Wrist motion Axis 4 120 to 120 Bend motion Axis 5 400 to 400 default Turn motion Axis 6 242 revolutions to 242 re volutions maximum i i The default working rang...

Страница 35: ...m 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 execution RT Tolerance o...

Страница 36: ...s 250 s 250 s IRB 120 3 0 6 Supervision is required to prevent overheating in applications with intensive and frequent movements Resolution Approx 0 01o on each axis 36 Product specification IRB 120 3...

Страница 37: ...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 Product specification IRB 120 37 3HAC035960 001...

Страница 38: ...located at the base Hose for compressed air is also integrated into the manipulator There are 4 inlets at the base R 1 8 and 4 outlets M5 on the upper arm housing xx0900000264 Value Number Description...

Страница 39: ...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...

Страница 40: ...scription Option Manipulator lubricated with food grade lubrication 777 1 Note This option is released from RobotWare 6 03 as IRB120FGL 3 0 6 Connector kit Description Option For the connectors on the...

Страница 41: ...with 6 months from end date of the standard warranty Warranty terms and con ditions apply Standard warranty 6 months 438 6 Standard warranty extended with 30 months from end date of the standard warra...

Страница 42: ...1 7 m 210 2 15 m 210 3 Connection of parallell communication Lengths Option 3 m 94 6 7 m 94 1 15 m 94 2 42 Product specification IRB 120 3HAC035960 001 Revision T Copyright 2010 2019 ABB All rights r...

Страница 43: ...ll 768 1 Product specification Controller IRC5 with FlexPend ant Empty cabinet large 768 2 Product specification Controller IRC5 with FlexPend ant Installation kit 715 1 Product specification IRB 120...

Страница 44: ...detail including service and safety instructions All documents can be found via myABB Business Portal www myportal abb com 44 Product specification IRB 120 3HAC035960 001 Revision T Copyright 2010 201...

Страница 45: ...t and PC For more information see Product specification Controller IRC5 and Product specification Controller software IRC5 Robot peripherals Motor Units1 1 Not applicable for IRC5 Compact controller P...

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

Страница 47: ...ions 44 M manuals 44 O options 39 P product standards 13 S safety standards 13 service instructions 44 standards 13 EN 13 EN IEC 13 EN ISO 13 standard warranty 40 stock warranty 40 stopping distances...

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Страница 50: ...elephone 47 22 87 2000 ABB Engineering Shanghai Ltd Robotics and Motion No 4528 Kangxin Highway PuDong District SHANGHAI 201319 China Telephone 86 21 6105 6666 ABB Inc Robotics and Motion 1250 Brown R...

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