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1.5.3 Maximum load and moment of inertia

Overview

Load in kg, Z and L in m and J in kgm

2

.

Maximum moment of inertia

Axis

Ja6 = Load x L

2

+ J

0Z

≤ 250 kgm

2

6

xx1000000834

Description

Pos

Center of gravity

A

Description

Max. moment of inertia around the X, Y and Z axes at center of gravity.

J

ox

, J

oy

, J

oz

Product specification - IRB 660

35

3HAC023932-001 Revision: X

© Copyright 2004-2021 ABB. All rights reserved.

1 Description

1.5.3 Maximum load and moment of inertia

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Содержание IRB 660

Страница 1: ...ROBOTICS Product specification IRB 660...

Страница 2: ...Trace back information Workspace 21D version a10 Checked in 2021 12 06 Skribenta version 5 4 005...

Страница 3: ...Product specification IRB 660 180 3 15 IRB 660 250 3 15 IRC5 Document ID 3HAC023932 001 Revision X Copyright 2004 2021 ABB All rights reserved Specifications subject to change without notice...

Страница 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...

Страница 5: ...ximum load and moment of inertia 36 1 5 4 Maximum TCP acceleration 37 1 6 Mounting of equipment 37 1 6 1 Overview 42 1 7 Robot motion 42 1 7 1 Introduction 44 1 7 2 Performance according to ISO 9283 4...

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

Страница 7: ...sonnel Order and customer service personnel References Document ID Reference 3HAC025755 001 Product manual IRB 660 3HAC047400 001 Product specification Controller IRC5 IRC5 with main computer DSQC1000...

Страница 8: ...am added R Published in release R17 2 The following updates are done in this revision Updated list of applicable standards TCP acceleration information added S Published in release R18 2 The following...

Страница 9: ...The data for robot stopping distances is removed See Product specification Robot stopping distances accord ing to ISO 10218 1 Description for option 455 8 updated X Product specification IRB 660 9 3HA...

Страница 10: ...intended for Product managers and Product personnel Sales and Marketing personnel Order and Customer Service personnel Contents Please see Table of Contents on page 3 References Document ID Reference...

Страница 11: ...ral update for 9 1 release G Text for Standards updated H Tightening torque adjusted J Table for ambient temperature adjusted New picture of tool flange Minor corrections of foundation forces K Machin...

Страница 12: ...This page is intentionally left blank...

Страница 13: ...RobotWare RobotWare supports every aspect of the robot system such as motion control development and execution of application programs communication and so on For more information see Product specific...

Страница 14: ...as shown in the following figure B D C en1000000670 Description Pos Axis 1 A Axis 2 B Axis 3 C Axis 6 D 14 Product specification IRB 660 3HAC023932 001 Revision X Copyright 2004 2021 ABB All rights r...

Страница 15: ...is available in two versions Reach m Handling capacity kg Robot type 3 15 180 IRB 660 3 15 250 IRB 660 Product specification IRB 660 15 3HAC023932 001 Revision X Copyright 2004 2021 ABB All rights res...

Страница 16: ...anipulator weight Weight kg Reach m Handling capacity kg Robot type 1750 3 15 180 IRB 660 1750 3 15 250 IRB 660 Other technical data Note Description Data 70 dB A Leq acc to Ma chiney directive 2006 4...

Страница 17: ...t maximum speed Power consumption kW General Palletizing move ments IRB 660 250 3 15 IRB 660 180 3 15 2 34 3 08 Max speed The path E1 E2 E3 E4 in the ISO Cube is shown in the following figure E1 E4 E3...

Страница 18: ...en1000000821 Description Position At mechanical stop A At max working range axis 2 B At max working range axis 3 C At min working range axis 3 D Radius for fork lift pocket E Radius for axis 3 motor F...

Страница 19: ...on ISO 12100 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...

Страница 20: ...2014i Classification of air cleanliness ISO 14644 1 2015ii Degrees of protection provided by enclosures IP code IEC 60529 1989 A2 2013 i Only valid for arc welding robots Replaces IEC 61000 6 4 for ar...

Страница 21: ...For more information on Load diagrams see Load diagrams on page 33 Working Range The working range of axis 1 can be limited by mechanical stops Electronic Position Switches can be used on all axes fo...

Страница 22: ...age up to 70 C 158 F Standard For short periods not exceed ing 24 hours i At low environmental temperature 10o C is as with any other machine a warm up phase recommended to be run with the robot Below...

Страница 23: ...kNm Torque xy 9 9 kNm 7 7 kNm Torque z The following figure shows the direction of forces en1000000825 Note regarding Mxy and Fxy The bending torque Mxy can occur in any direction in the XY plane of t...

Страница 24: ...4 mm flat washer Torque value 725 Nm Note Only two guiding sleeves shall be used The corresponding holes in the base plate shall be circular and oval according to the following base plate drawing Reg...

Страница 25: ...4 x 4 8 1 3 2 1 6 3x45 0 3 45P7 A A 1 5 4x 6 3 4 8 2 1 6 3x45 B B 2 1 3 3x R1 3 x 4 3x 90 C C 4 5 K 7 0 5 0 47 0 25 c 2x R22 5 1 6 D 2 c 5 2 5 Common Zone E F G H xx1000001053 Common tolerance zone ac...

Страница 26: ...2 385 565 748 800 882 923 4x 16 5x 22 16x 861 2x 358 2x 18 0 905 813 475 137 45 0 0 37 2x 87 2x 293 2x 450 2x 630 2x 813 2x 947 2x 991 2x A xx1000001054 Description Pos Color RAL 9005 A Thickness 80 1...

Страница 27: ...Description Pos Guide sleeve protected from corrosion A Product specification IRB 660 27 3HAC023932 001 Revision X Copyright 2004 2021 ABB All rights reserved 1 Description 1 3 3 Mounting the manipula...

Страница 28: ...menu on the FlexPendant If no data is found related to standard calibration contact the local ABB Service Brief description of calibration methods Calibration Pendulum method Calibration Pendulum is a...

Страница 29: ...what to do at each step is given on the FlexPendant You will be guided through the calibration procedure step by step Product specification IRB 660 29 3HAC023932 001 Revision X Copyright 2004 2021 AB...

Страница 30: ...or Axis calibration see Product manual IRB 4600 and Product manual IRB 4600 Foundry Prime The following figure shows all axes in zero position 1 2 3 4 5 6 xx1800001381 Continues on next page 30 Produc...

Страница 31: ...ero position Calibration of axis 1 and 2 Axis 3 to 6 in any position Axis 1 in zero position Calibration of axis 1 Axis 2 to 6 in any position Product specification IRB 660 31 3HAC023932 001 Revision...

Страница 32: ...tside the load diagram will not be covered by robot warranty General The load diagrams include a nominal payload inertia J0 of 15 kgm2 and an extra load of 50 kg at the upper arm housing At different...

Страница 33: ...maximum permitted load mounted on the robot tool flange at different positions center of gravity xx1000000832 Continues on next page Product specification IRB 660 33 3HAC023932 001 Revision X Copyrigh...

Страница 34: ...mum permitted load mounted on the robot tool flange at different positions center of gravity xx1000000833 34 Product specification IRB 660 3HAC023932 001 Revision X Copyright 2004 2021 ABB All rights...

Страница 35: ...oad x L2 J0Z 250 kgm2 6 xx1000000834 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 Product specification IRB 660 35 3...

Страница 36: ...loads Controlled Motion Max acceleration at nominal load COG m s2 E stop Max acceleration at nominal load COG m s2 Robot type 18 31 IRB 660 250 3 15 24 37 IRB 660 180 3 15 Note Acceleration levels for...

Страница 37: ...ee the following figure The maximum weight for the vacuum hose and fastening device is 35kg When using the holes the weight of the vacuum hose shall be reduced from the maximum handling capacity for e...

Страница 38: ...d extra load on frame JH 120 kgm2 Max moment of inertia for extra load JH JH0 M x R2 Recommended position as shown in the following figure JH0 is the moment of inertia kgm2 for the extra load R is the...

Страница 39: ...shows the radius for extra load on frame xx1000000837 Continues on next page Product specification IRB 660 39 3HAC023932 001 Revision X Copyright 2004 2021 ABB All rights reserved 1 Description 1 6 1...

Страница 40: ...ws the robot tool flange SS EN ISO 9409 1 2004 dimensions in mm xx0500002292 Continues on next page 40 Product specification IRB 660 3HAC023932 001 Revision X Copyright 2004 2021 ABB All rights reserv...

Страница 41: ...lity When 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 660 41 3HAC023...

Страница 42: ...olutions Max see the following note Note The default working range for axis 6 can be extended by changing parameter values in the software Option 610 1 Independent axis can be used for resetting the r...

Страница 43: ...C Tool flange center D Positions at wrist center Axis3 Angle degrees Axis2 Angle degrees Z Position mm X Position mm Position number see pre ceding figure 0 0 1833 1910 0 20 42 1966 972 1 28 42 870 89...

Страница 44: ...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...

Страница 45: ...s 1 95 s 130 s 2 95 s 130 s 3 240 s 300 s 6 There is a supervision function to prevent overheating in applications with intensive and frequent movements Product specification IRB 660 45 3HAC023932 00...

Страница 46: ...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 46 Product specification IRB 660 3HAC023932 001...

Страница 47: ...3 module Hart ing shell size 10B HD 5x2AWG24 50V 1A Signals CS Female DD 12 pin9 140 123 101 3 module Hart ing shell size 10B DD 2xAWG26 Z 150 Ohm 1MHz Profibus Bus Commu nication BUS 2xAWG26 Z 120 O...

Страница 48: ...16x AWG24 10x AWG24 50V 1A Parallel com munication Signals CS 5 screened pair twisted 253 101 10B HD EE Parker Push lock 1 2 M22x1 5 Brass 24 degree seal 2x12 7 1 2 PNom 16 bar Utility air Air AIR 48...

Страница 49: ...ted 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 activi...

Страница 50: ...This page is intentionally left blank...

Страница 51: ...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 52: ...lamp 213 1 Lifting device on the manipulator for fork lift handling Fork lift device 159 1 Can also be used for IRB 7600 See dimension drawing in Mounting the manipulator on page 23 Base plate 37 1 Re...

Страница 53: ...option SafeMove see Application manual Functional safety and SafeMove If the mechanical stop is removed then the manipulator should have a marking for this for example a label If the robot is deliver...

Страница 54: ...ice in case of other requirements Standard warranty 24 months 438 5 Standard warranty extended with 6 months from end date of the standard warranty Warranty terms and con ditions apply Standard warran...

Страница 55: ...ons see Process on page 56 Manipulator cable length Lengths Option 7 m 210 2 15 m 210 3 22 m 210 4 30 m 210 5 Product specification IRB 660 55 3HAC023932 001 Revision X Copyright 2004 2021 ABB All rig...

Страница 56: ...process cable package and two hoses for Air inner diameter 12 5 mm Parallel and Ethernet communication 455 8 Parallel CAN DeviceNet Profibus Ethernet The following information specifies the cable len...

Страница 57: ...etail including service and safety instructions Tip All documents can be found via myABB Business Portal www abb com myABB Product specification IRB 660 57 3HAC023932 001 Revision X Copyright 2004 202...

Страница 58: ...This page is intentionally left blank...

Страница 59: ...bot and PC For more information see Product specification Controller IRC5 and Application manual Controller software IRC5 Robot peripherals Motor Units2 2 Not applicable for IRC5 Compact controller Pr...

Страница 60: ...This page is intentionally left blank...

Страница 61: ...ration 30 I instructions 57 ISO 9283 44 L load diagrams 33 M maintenance 49 manuals 57 maximum load 35 moment of intertia 35 O option Extended working range 53 options 51 P product standards 19 Profib...

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Страница 64: ...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 125...

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