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ABB IRB 910SC Скачать руководство пользователя страница 31

1.6.2 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 910SC

.

xx1500002631

Description

Posi-
tion

Description

Posi-
tion

Axis 2

B

Axis 1

A

Axis 3

D

Axis 4

C

Product specification - IRB 910SC

31

3HAC056431-001 Revision: G

© Copyright 2016-2020 ABB. All rights reserved.

1 Description

1.6.2 Fine calibration

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Содержание IRB 910SC

Страница 1: ...ROBOTICS Product specification IRB 910SC ...

Страница 2: ...Trace back information Workspace 20C version a3 Checked in 2020 09 14 Skribenta version 5 3 075 ...

Страница 3: ...duct specification IRB 910SC 3 0 45 IRB 910SC 3 0 55 IRB 910SC 3 0 65 IRC5 Document ID 3HAC056431 001 Revision G Copyright 2016 2020 ABB All rights reserved Specifications subject to change without notice ...

Страница 4: ...ty 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 products described herein This manual and parts thereof must not be reproduced or copied without ABB s written permission Keep for future reference Additional copies of this manual may be obtained f...

Страница 5: ...alibration 29 1 6 1 Calibration methods 31 1 6 2 Fine calibration 32 1 6 3 Absolute Accuracy option 34 1 7 Maintenance and troubleshooting 34 1 7 1 Introduction to maintenance and trouble shooting 35 1 8 Robot motion 36 1 8 1 Working range and type of motion 40 1 8 2 Performance according to ISO 9283 41 1 8 3 Velocity 42 1 8 4 Robot stopping distances and times 43 1 9 Customer connections 45 2 Spe...

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

Страница 7: ...personnel Sales and marketing personnel Order and customer service personnel References Documentation referred to in the manual is listed in the table below Document ID Document name 3HAC056430 001 Product manual IRB 910SC 3HAC056433 001 Product manual spare parts IRB 910SC Document ID Reference to the circuit diagram for the robot 3HAC035738 001 Product manual IRC5 Compact 3HAC050941 001 Operatin...

Страница 8: ...effector to the ball screw spline shaft on page 27 B Published in release R17 1 The following updates are done in this revi sion Restriction of load diagram added Changed protection from IP30 to IP20 C Published in release R17 2 The following updates are done in this revi sion Updated list of applicable standards Improved picture of end effector dimension D Published in release R18 2 The following...

Страница 9: ...ery aspect of the robot system such as motion control development and execution of application programs communication etc See Product specification Controller IRC5 with FlexPendant IRC5C included Safety The safety standards are valid for the complete robot manipulator and controller Additional functionality For additional functionality the robot can be equipped with optional software for applicati...

Страница 10: ...ription Posi tion Description Posi tion Axis 2 B Axis 1 A Axis 3 D Axis 4 C 10 Product specification IRB 910SC 3HAC056431 001 Revision G Copyright 2016 2020 ABB All rights reserved 1 Description 1 1 1 Introduction to structure Continued ...

Страница 11: ...5 kg IRB 910SC 3 0 45 25 kg IRB 910SC 3 0 55 25 5 kg IRB 910SC 3 0 65 Other technical data Note Description Data 70 dB A Leq acc to the work ing space Machinery directive 2006 42 EG The sound pressure level outside Airborne noise level Power consumption IRB 910SC 3 0 65 IRB 910SC 3 0 55 IRB 910SC 3 0 45 Robot in 0 degree position 71 W 71 W 71 W Brakes engaged 127 6 W 127 6 W 127 6 W Brakes disenga...

Страница 12: ...SC 3 0 55 IRB 910SC 3 0 45 400 mm 300 mm 200 mm Length of lower arm L 620 mm 620 mm 620 mm Maximum height A Continues on next page 12 Product specification IRB 910SC 3HAC056431 001 Revision G Copyright 2016 2020 ABB All rights reserved 1 Description 1 1 2 The robot Continued ...

Страница 13: ...IRB 910SC 3 0 65 IRB 910SC 3 0 55 IRB 910SC 3 0 45 180 mm 180 mm 180 mm Z stroke B Product specification IRB 910SC 13 3HAC056431 001 Revision G Copyright 2016 2020 ABB All rights reserved 1 Description 1 1 2 The robot Continued ...

Страница 14: ...botic devices Coordinate systems and motion nomenclatures ISO 9787 2013 Manipulating industrial robots performance criteria and related test methods ISO 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 2010 option 129 1 EMC Generic immunity EN 61000 ...

Страница 15: ... to axes 3 and 4 For more details regarding stopping time and distance metric see Product specification Robot stopping distances according to ISO 10218 1 European standards The product is designed in accordance with selected parts of Description Standard Safety of machinery Ergonomic design principles Part 1 Terminology and general principles EN 614 1 2006 A1 2009 Safety of machinery Two hand cont...

Страница 16: ...ght of 6 kg including payload can be mounted on the lower end of the ball screw spline shaft axis 3 For more information about mounting of extra equipment see Mounting of equipment on page 27 16 Product specification IRB 910SC 3HAC056431 001 Revision G Copyright 2016 2020 ABB All rights reserved 1 Description 1 3 1 Introduction to installation ...

Страница 17: ...controller 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 10ºC is as with any other machine a warm up phase recommended to be run with the robot Otherwise there is a risk that the robot stops or run with lower performance due to temperature dependent oil and gre...

Страница 18: ...ny direction in the XY plane Fxy Force in the Z plane Fz Bending torque in any direction in the XY plane Txy Bending torque in the Z plane Tz The table shows the various forces and torques working on the robot during different kinds of operation Note These forces and torques are extreme values that are rarely encountered during operation The values also never reach their maximum at the same time C...

Страница 19: ...dation It also specifies the type of pins to be used M10x25 Suitable screws 4 pcs Quantity 8 8 Quality 20x10 5x2 Suitable washer 2 pcs D6x20 ISO 2338 6m6x20 A1 Guide pins 45 Nm Tightening torque 0 1 xx1500000627 Level surface requirements Product specification IRB 910SC 19 3HAC056431 001 Revision G Copyright 2016 2020 ABB All rights reserved 1 Description 1 3 3 Mounting the manipulator Continued ...

Страница 20: ...ble which allows the user to make an automatic definition of the tool and load to determine correct load parameters For detailed information see Operating manual IRC5 with FlexPendant WARNING Robots running with incorrect load data and or with loads outside diagram will not be covered by robot warranty General The load diagram includes a nominal pay load inertia J0 of 0 01 kgm2 At different moment...

Страница 21: ...30 0 00 0 05 0 10 0 15 0 20 Z m L m 6 kg 5 kg 4 kg 3 kg 2 kg 1 kg 6 kg 5 kg 4 kg 3 kg 2 kg 1 kg xx1500002612 Continues on next page Product specification IRB 910SC 21 3HAC056431 001 Revision G Copyright 2016 2020 ABB All rights reserved 1 Description 1 4 2 Load diagram ...

Страница 22: ... 30 0 00 0 05 0 10 0 15 0 20 Z m L m 6 kg 5 kg 4 kg 3 kg 2 kg 1 kg xx1500002613 Continues on next page 22 Product specification IRB 910SC 3HAC056431 001 Revision G Copyright 2016 2020 ABB All rights reserved 1 Description 1 4 2 Load diagram Continued ...

Страница 23: ...0 20 0 25 0 30 0 00 0 05 0 10 0 15 0 20 Z m L m 6 kg 5 kg 4 kg 3 kg 2 kg 1 kg xx1500002614 Product specification IRB 910SC 23 3HAC056431 001 Revision G Copyright 2016 2020 ABB All rights reserved 1 Description 1 4 2 Load diagram Continued ...

Страница 24: ...yload See Load diagram on page 21 Full movement Max value Robot variant Axis J4 Mass x L2 J0Z 0 1 kgm2 IRB 910SC 3 0 45 4 J4 Mass x L2 J0Z 0 1 kgm2 IRB 910SC 3 0 55 J4 Mass x L2 J0Z 0 1 kgm2 IRB 910SC 3 0 65 X Z A xx1500002615 Description Position Center of gravity A Continues on next page 24 Product specification IRB 910SC 3HAC056431 001 Revision G Copyright 2016 2020 ABB All rights reserved 1 De...

Страница 25: ...inertia around the X Y and Z axes at center of gravity Jox Joy Joz Product specification IRB 910SC 25 3HAC056431 001 Revision G Copyright 2016 2020 ABB All rights reserved 1 Description 1 4 3 Maximum load and moment of inertia Continued ...

Страница 26: ... and arm 2 The maximum extra load needs to meet the following requirement Extra loads payload payload specification For more information about extra loads specification and mounting method please contact ABB 26 Product specification IRB 910SC 3HAC056431 001 Revision G Copyright 2016 2020 ABB All rights reserved 1 Description 1 4 4 Extra loads ...

Страница 27: ...end of the shaft of the ball screw spline unit The dimensions for fitting the end effector is shown in the following figure 10 40 10 7 50 10 20 h7 xx1700001187 Continues on next page Product specification IRB 910SC 27 3HAC056431 001 Revision G Copyright 2016 2020 ABB All rights reserved 1 Description 1 5 Mounting of equipment ...

Страница 28: ...t cut A Conical hole B Stop block diameter C Through hole D Shaft diameter E 28 Product specification IRB 910SC 3HAC056431 001 Revision G Copyright 2016 2020 ABB All rights reserved 1 Description 1 5 Mounting of equipment Continued ...

Страница 29: ...compensates for Mechanical tolerances in the robot structure Deflection due to load Absolute accuracy calibration 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 SMB serial measurement board in the robot For robots with RobotWare 5 05 or older the absolute accuracy calibrati...

Страница 30: ... through the calibration process and calculates new compensation parameters This is further detailed in the Application manual CalibWare Field If a service operation is done to 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 the robot structure standar...

Страница 31: ... aligned For detailed information on calibration of the robot see Product manual IRB 910SC xx1500002631 Description Posi tion Description Posi tion Axis 2 B Axis 1 A Axis 3 D Axis 4 C Product specification IRB 910SC 31 3HAC056431 001 Revision G Copyright 2016 2020 ABB All rights reserved 1 Description 1 6 2 Fine calibration ...

Страница 32: ...bot is delivered with compensation parameters saved on the robot s serial measurement board a birth certificate representing the Absolute Accuracy measurement protocol for the calibration and verification sequence A robot with Absolute Accuracy calibration has a label with this information on the manipulator Absolute Accuracy supports both floor mounted and inverted installations The compensation ...

Страница 33: ...ndent joint Joint based jogging Additional axes Track motion Note In a robot system with for example an additional axis or track motion the Absolute Accuracy is active for the manipulator but not for the additional axis or track motion RAPID instructions There are no RAPID instructions included in this option Product specification IRB 910SC 33 3HAC056431 001 Revision G Copyright 2016 2020 ABB All ...

Страница 34: ...d 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 activities also depends on selected options For detailed information on maintenance procedures see Maintenance section in the Product Manual IRB 910SC 34 Product specification IRB 910SC 3HAC056431 001 Revisio...

Страница 35: ...celeration of axes 1 2 and 4 may be reduced based on the actual position and speed of the axes and the stabilization time for final positioning may also be longer when moving the robot horizontally Continues on next page Product specification IRB 910SC 35 3HAC056431 001 Revision G Copyright 2016 2020 ABB All rights reserved 1 Description 1 8 Robot motion ...

Страница 36: ...he upper arm For how to fit the block see Product manual IRB 910SC The additional mechanical stop block and related screws are provided in accessory package ii The default working range for axis 4 can be extended by changing parameter values in the software Option 610 1 Independent axis can be used for resetting the revolution counter after the axis has been rotated no need for rewinding the axis ...

Страница 37: ...136 5 160 136 5 160 xx1500002474 119 mm F Maximum space a 200 mm G Center joint of axis 3 b 450 mm H Base mounting face c 150 J Area limited by mechanical stop d 151 2 K 140 A 180 mm M 1 5 B 5 mm N 150 C 2 mm P 1 2 D 40 2 mm Q 126 mm E Continues on next page Product specification IRB 910SC 37 3HAC056431 001 Revision G Copyright 2016 2020 ABB All rights reserved 1 Description 1 8 1 Working range an...

Страница 38: ... 5 160 136 5 xx1500002475 145 mm F Maximum space a 300 mm G Center joint of axis 3 b 550 mm H Base mounting face c 150 J Area limited by mechanical stop d 151 2 K 140 A 180 mm M 1 5 B 5 mm N 150 C 2 mm P 1 2 D 40 2 mm Q 150 mm E Continues on next page 38 Product specification IRB 910SC 3HAC056431 001 Revision G Copyright 2016 2020 ABB All rights reserved 1 Description 1 8 1 Working range and type ...

Страница 39: ... d c 160 136 5 160 136 5 xx1500002476 217 mm F Maximum space a 400 mm G Center joint of axis 3 b 650 mm H Base mounting face c 150 J Area limited by mechanical stop d 151 2 K 140 A 180 mm M 1 5 B 5 mm N 150 C 2 mm P 1 2 D 40 2 mm Q 222 mm E Product specification IRB 910SC 39 3HAC056431 001 Revision G Copyright 2016 2020 ABB All rights reserved 1 Description 1 8 1 Working range and type of motion C...

Страница 40: ...gram 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 peated positioning RP Valuesi Description IRB 910SC 3 0 65 IRB 910SC 3 0 55 IRB 910SC 3 0 45 0 01 0 01 0 01 Pose repeatability RP mm 0 01 0 01 0 01 Pose accuracy AP mm ii 0 06 0 06 0 09 Linear path repeatability RT ...

Страница 41: ...0SC 3 0 65 The velocities of axes 1 2 and 4 are measured with rated payload and axis 3 at position of 0 mm Supervision is required to prevent overheating in applications with intensive and frequent movements Resolution Approximately 0 01 on each axis Product specification IRB 910SC 41 3HAC056431 001 Revision G Copyright 2016 2020 ABB All rights reserved 1 Description 1 8 3 Velocity ...

Страница 42: ...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 42 Product specification IRB 910SC 3HAC056431 001 Revision G Copyright 2016 2020 ABB All rights reserved 1 Description 1 8 4 Robot stopping distances and times ...

Страница 43: ...onnection Position Inner hose diameter 4 mm 4 Max 5 bar Air A 49 V 500 mA 10 Customer power signal R1 R3 CP CS B Connectors The tables describes the connectors on base and upper arm Connectors base Art no Description Position 3HAC022117 002 Pin connector 10p bulkhead Robot 3HAC037038 001 Connector set R1 CP CS Customer connector Connectors upper arm Art no Description Position 3HAC023624 002 Socke...

Страница 44: ...cription Position 4xM5 Robot 3HAC032049 001 Air connector Customer cable 44 Product specification IRB 910SC 3HAC056431 001 Revision G Copyright 2016 2020 ABB All rights reserved 1 Description 1 9 Customer connections Continued ...

Страница 45: ...tions 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 specification IRB 910SC 45 3HAC056431 001 Revision G Copyright 2016 2020 ABB All rights reserved 2 Specification of variants and options 2 1 Introduction to variants and options ...

Страница 46: ...ndard warranty 12 months 438 2 Standard warranty extended with 18 months from end date of the standard warranty Warranty terms and con ditions apply Contact Customer Service in case of other requirements Standard warranty 18 months 438 4 Standard warranty extended with 24 months from end date of the standard warranty Warranty terms and con ditions apply Contact Customer Service in case of other re...

Страница 47: ...anty 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 Robotics Warranty Directives Stock warranty 438 8 Product specification IRB 910SC 47 3HAC056431 001 Revision G Copyright 2016 2020 ABB All rights reserved 2 Specification of variants and options 2 2 Manipulat...

Страница 48: ... to Description Option Cabinet 16 1 Connection of parallel communication Lengths Option 3 m 94 6 7 m 94 1 REQUIRES 16 1 Cabinet 15 m 94 2 REQUIRES 16 1 Cabinet 48 Product specification IRB 910SC 3HAC056431 001 Revision G Copyright 2016 2020 ABB All rights reserved 2 Specification of variants and options 2 3 Floor cables ...

Страница 49: ...detail including service and safety instructions All documents can be found via myABB Business Portal www myportal abb com Product specification IRB 910SC 49 3HAC056431 001 Revision G Copyright 2016 2020 ABB All rights reserved 2 Specification of variants and options 2 4 User documentation ...

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Страница 51: ...software and software options for robot and PC For more information see Product specification Controller IRC5 and Product specification Controller software IRC5 Product specification IRB 910SC 51 3HAC056431 001 Revision G Copyright 2016 2020 ABB All rights reserved 3 Accessories ...

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Страница 53: ...2 D documentation 49 I instructions 49 M manuals 49 O options 45 P product standards 14 S safety standards 14 service instructions 49 standards 14 ANSI 15 CAN 15 EN 15 EN IEC 14 EN ISO 14 standard warranty 46 stock warranty 46 stopping distances 42 stopping times 42 U user documentation 49 V variants 45 W warranty 46 Product specification IRB 910SC 53 3HAC056431 001 Revision G Copyright 2016 2020 ...

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Страница 56: ...Telephone 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 Road Auburn Hills MI 48326 USA Telephone 1 248 391 9000 abb com robotics 3HAC056431 001 Rev G en Copyright 2016 2020 ABB All rights reserved Specifications subject to change without notice ...

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