ABB IRB 2400/10 Скачать руководство пользователя страница 35 | Manualshive

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ABB IRB 2400/10 Скачать руководство пользователя страница 35

1 Description

1.6.1 Fine calibration

3HAC 9112-1

Rev.N

33

1.6 Calibration and references

1.6.1 Fine calibration

General

Fine calibration is made using the Calibration Pendulum, please see Operating

manual - Calibration Pendulum.

Figure 17 All axes in zero position.

Calibration

Calibration

Position

Calibration of all axes

All axes are in zero position

Calibration of axis 1 and 2

Axis 1 and 2 in zero position

Axis 3 to 6 in any position

Calibration of axis 1

Axis 1 in zero position

Axis 2 to 6 in any position

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Содержание IRB 2400/10

Страница 1: ...Product specification Articulated robot IRB 2400 10 IRB 2400 16 IRB 2400 L M2004...

Страница 2: ......

Страница 3: ...Product specification Articulated robot 3HAC9112 1 Rev N IRB 2400 10 IRB 2400 16 IRB 2400 L M2004...

Страница 4: ...ess 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 products described herein This manual and parts there...

Страница 5: ...1 Robot tool flange 32 1 6 Calibration and references 33 1 6 1 Fine calibration 33 1 6 2 Absolute Accuracy calibration 34 1 7 Maintenance and Troubleshooting 36 1 7 1 Introduction 36 1 8 Robot Motion...

Страница 6: ...Table of Contents 4 Rev N 3HAC 9112 1...

Страница 7: ...ts on page 3 Revisions Revision Description Revision 6 The IRB 2400 L 5 kg version cancelled New values for Performance Acc to ISO 9283 added M2000 cancelled Revision G Option 287 5 Wash removed Revis...

Страница 8: ...Complementary Product specifications Product specification Description Controller IRC5 with FlexPendant 3HAC021785 001 Controller Software IRC5 RobotWare 5 11 3HAC022349 001 Robot User Documen tation...

Страница 9: ...om class 100 according to US Federal Standard 209 or class 5 according to ISO 14644 1 The performed clean room test has classify the air cleanliness exclusively in terms of concentration of airborne p...

Страница 10: ...1 Description 1 1 1 Introduction 8 Rev N 3HAC 9112 1 Manipulator axes Figure 1 The IRB 2400 manipulator has 6 axes...

Страница 11: ...sion designation IRB 2400 Version Manipulator weight Other technical data Robot type Handling capacity kg Reach m IRB 2400 10 10 kg 1 55 m IRB 2400 16 16 kg 20 kg with some limita tions see chapter 1...

Страница 12: ...ersions 10 Rev N 3HAC 9112 1 Power consumption Path E1 E2 E3 E4 in the ISO Cube maximum load Figure 2 Path E1 E2 E3 E4 in the ISO Cube maximum load Speed mm s Power consumption kW Max 0 61 0 67 1000 0...

Страница 13: ...1 Description 1 1 2 Different robot versions 3HAC 9112 1 Rev N 11 Dimensions for IRB 2400 L Figure 3 View of the manipulator from the side rear and above dimensions in mm...

Страница 14: ...1 Description 1 1 2 Different robot versions 12 Rev N 3HAC 9112 1 Dimensions for IRB 2400 10 and IRB 2400 16 Figure 4 View of the manipulator from the side rear and above dimensions in mm...

Страница 15: ...h 6 2 in that only worst case stop distances and stop times are documented Robots for industrial environments Safety requirements EN 61000 6 4 option EMC Generic emission EN 61000 6 2 EMC Generic immu...

Страница 16: ...on brakes released is indicated on the FlexPendant Data can also be monitored over network using e g WebWare The Active Safety System Description General The active safety system includes those softwa...

Страница 17: ...ent computers Restricting the working space The movement of each axis can be restricted using software limits As options axes 1 2 can also be restricted by means of mechanical stops and axis 3 by an e...

Страница 18: ...FlexPendant must be used to move the robot when in manual mode The enabling device consists of a switch with three positions meaning that all robot movements stop when either the enabling device is pu...

Страница 19: ...6 depending on the robot version See section 1 4 Load diagrams Other equipment Other equipment can be mounted on the upper arm max weight 11 kg or 12 kg and on the base max weight 35 kg Holes for mou...

Страница 20: ...IP67 IRB 2400F 10 F 16 Manipulator IP67 Steam washable US Federal Standard 209 Class 100 ISO 14644 1 Class 5 Description Standard Option Temperature Manipulator during opera tion Standard 5 C 41 F to...

Страница 21: ...ation Max load at emergency stop Force xy 1700 N 2100 N Force z floor mounting 4100 1100 N 4100 1400 N Force z inverted mounting 4100 1100 N 4100 1400 N Torque xy 3000 Nm 3400 Nm Torque z 450 Nm 900 N...

Страница 22: ...manipulator 20 Rev N 3HAC 9112 1 Figure 5 Directions of forces Note regarding Mxy and Fxy The bending torque Mxy can occur in any direction in the XY plane of the base coordinate system The same appl...

Страница 23: ...escription 1 3 3 Mounting the manipulator 3HAC 9112 1 Rev N 21 Figure 6 Hole configuration dimensions in mm Pos Description A Z center line axis 1 B The same dimensions C View from the bottom of the b...

Страница 24: ...g parts can be damaged due to overload motors gearboxes mechanical structure It is very important to always define correct actual load data and correct payload of the robot Incorrect definitions of lo...

Страница 25: ...mounting on the mounting flange at different positions cen ter of gravity Description Z See the above diagram and the coordinate system in the Product specification IRC5 with FlexPendant L Distance in...

Страница 26: ...g on the mounting flange at different positions cen ter of gravity Description Z See the above diagram and the coordinate system in the Product specification IRC5 with FlexPendant L Distance in X Y pl...

Страница 27: ...g on the mounting flange at different positions cen ter of gravity Description Z See the above diagram and the coordinate system in the Product specification IRC5 with FlexPendant L Distance in X Y pl...

Страница 28: ...ermitted for load mounting on the mounting flange at different positions center of gravity No extra load on wrist see Figure 14 Description Z See the above diagram and the coordinate system in the Pro...

Страница 29: ...l movement of axis 5 Axis Robot Type Maximum momemt of inertia 5 IRB 2400L J5 Mass x Z 0 065 2 L2 max J0x J0y 0 65 kgm2 6 IRB 2400L J6 Mass x L2 J0Z 0 31 kgm2 Axis Robot Type Maximum momemt of inertia...

Страница 30: ...nter of gravity within the load diagram since those also are lim ited by main axes torques as well as dynamic loads Also arm loads will influence the per mitted load diagram For finding the absolute l...

Страница 31: ...shaded area indicates the permitted positions center of gravity for any extra equipment mounted in the holes dimensions in mm Pos Description A The rear side of the manipulator M8 2x Depth 14 400 300...

Страница 32: ...gravity for any extra equipment mounted in the holes dimensions in mm Pos Description A The rear side of the manipulator 400 300 35 70 65 177 M8 3x Depth of thread 14 A A M6 2x 110 25 100 200 300 450...

Страница 33: ...ns center of gravity for any extra equipment mounted in the holes dimensions in mm Pos Description A No extra load on wrist B The rear side of the manipulator 300 100 35 70 65 177 M8 3x Depth of threa...

Страница 34: ...mounting flange dimensions in mm IRB 2400 10 and IRB 2400 16 Figure 16 The mechanical interface mounting flange dimensions in mm 45 o D 6 H7 M6 4x R 20 A A 0 05 B 4x 90o 6 D 25 9 A A D 50 h8 B H8 0 02...

Страница 35: ...Calibration Pendulum please see Operating manual Calibration Pendulum Figure 17 All axes in zero position Calibration Calibration Position Calibration of all axes All axes are in zero position Calibr...

Страница 36: ...acy in the cartesian coordinate system for the robot It also includes load compensation for deflection caused by the tool and equipment Tool data from robot program is used for this purpose The positi...

Страница 37: ...ion Absolute Accuracy is a RobotWare option and includes an individual calibration of the robot mechanical arm Absolute Accuracy is a TCP calibration in order to Reach m a good positioning in the Cart...

Страница 38: ...the gear boxes The cabling is routed for longevity and in the unlikely event of a failure its modular design makes it easy to change The following maintenance is required Changing filter for the drive...

Страница 39: ...Axis 2 Arm motion 110 to 100 Axis 3 Arm motion 65 to 60 Axis 4 Wrist motion 185 to 185 Axis 5 Bend motion 115 to 115 Axis 6 Turn motion 400 to 400 300 rev a to 300 rev Max b a rev Revolutions b The de...

Страница 40: ...ns at wrist center mm and angle degrees see the following table Position no see Figure 19 Position mm X Position mm Z Angle degrees Axis 2 Angle degrees Axis 3 0 970 1620 0 0 1 404 2298 0 60 2 602 745...

Страница 41: ...mounted 10 kg version 180 to 180 Axis 2 Arm motion 110 to 100 Axis 3 Arm motion 65 to 60 Axis 4 Wrist motion 200 to 200 Unlimited as optional Axis 5 Bend motion 120 to 120 Axis 6 Turn motion 400 to 40...

Страница 42: ...B Positions at wrist center mm and angle degrees see the following table Position no see Figure 20 Position mm X Position mm Z Angle degrees Axis 2 Angle degrees Axis 3 0 855 1455 0 0 1 360 2041 0 60...

Страница 43: ...am execution D Actual path at program execution AP Mean distance from programmed position AT Max deviation from E RP Tolerance of posiotion B at repeated positioning RT Tolerance of the path at repeat...

Страница 44: ...ne moving axis All stop distances are valid for floor mounted robot without any tilting Axis no IRB 2400 L IRB 2400 10 IRB 2400 16 1 150 s 150 s 90 sa a For wall mounted 10 kg version 150 s 2 150 s 15...

Страница 45: ...A B A B A B IRB 2400 16 1 48 4 0 62 71 0 0 88 56 1 0 67 2 16 8 0 21 28 8 0 36 23 6 0 26 3 24 9 0 30 37 9 0 44 32 3 0 35 Description A Distance in degrees B Stop time s For more information of air and...

Страница 46: ...1 Description 1 8 5 Signals 44 Rev N 3HAC 9112 1...

Страница 47: ...specification Controller IRC5 with FlexPendant and for software options see Product specification Controller software IRC5 RobotWare 2 1 2 Manipulator Variants Manipulator color Option IRB Type Handli...

Страница 48: ...of protection as in chapter 1 3 2 The manipulator is finished with a special coating The connectors are designed for severe environments and bearings gears and other sensitive parts are highly protec...

Страница 49: ...2400 L option 435 9 Option Description 16 1 Cabineta a Note In a M2004 MultiMove application additional robots have no Control Module The screw terminals with internal cabling are then delivered separ...

Страница 50: ...ced with electronic position switches for up to 7 axes for increased flexibility and robustness For more detailed information see Product specification IRC5 with FlexPendant and Application Manual EPS...

Страница 51: ...ng range limit axis 2 To increase the safety of the robot the working range of axis 2 can be restricted Figure 23 Mounting positions of the stops axis 2 Option Description 28 1 Axis 1 Two extra stops...

Страница 52: ...001 1 adds 6 meters to that ending up with a total travel length of 7 7 m Option Description 34 1 Axis 3 Equipment for electrically restricting the working range in increments of 5 Option Type Descrip...

Страница 53: ...2 years 438 4 Standard 18 months 18 18 months 3 years 438 5 Standard 24 months 18 24 months 3 1 2 years 438 6 Standard 6 months 18 6 months 2 years 438 8 Stock Warranty Maximum 6 months postponed warr...

Страница 54: ...on Lengths 1067 1 7 m 1067 2 10 m Standard length 1067 3 15 m Option Lengths 1068 1 7 m 1068 2 10 m Standard length 1068 3 15 m Option Type Description 1048 1 Flexible Only available with one or two M...

Страница 55: ...TM ABIROB W 22 degrees Option Type Description 768 1 Empty cabinet small See Product Specification Controller IRC5 with FlexPendant chapter 2 2 1 768 2 Empty cabinet large See Product Specification Co...

Страница 56: ...e Description 1030 4 7 5 m For external suspension mounting not included Only together with option 1029 13 or 1029 14 1030 5 10 m Internal suspension mounting hose package attatched to the robot base...

Страница 57: ...orking areas 1054 3 2 x operators panel 2 areas Two operator panels one for each working area Option Type Description 1058 1 Safety interface SIB requires options 735 3 and 735 4 1058 2 Active relay A...

Страница 58: ...Pre reset unit Qty 1 or 2 one working area requires one PC of Pre reset Two working areas require two PCs of Pre reset Option Type Description 1064 1 Activation unit Qty 1 or 2 one requires one PC of...

Страница 59: ...quipment available specially designed for the robot Basic software and software options for robot and PC For more information see Product specification Controller IRC5 with FlexPendant and Product spe...

Страница 60: ...3 Accessories 58 Rev N 3HAC 9112 1...

Страница 61: ...1 52 Manipulator connection of Parallel communica tion 51 forklift 43 H hold to run control 16 humidity 18 I installation 17 Installation kit 53 Internal Safety Concept 16 inverted robot 17 L limitat...

Страница 62: ...rch Service Center 54 service 36 Service Information System 14 service information system 14 signal connections 46 space requirements 9 standards 13 structure 7 suspended robot 17 T temperature 18 Tra...

Страница 63: ......

Страница 64: ...ABB AB Robotics Products S 721 68 V STER S SWEDEN Telephone 46 0 21 344000 Telefax 46 0 21 132592 3HAC9112 1 Revision N en...

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