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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

).

42

Product specification - IRB 920

3HAC075723-001 Revision: A

© Copyright 2021 ABB. All rights reserved.

1 Description

1.8.4 Robot stopping distances and times

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Содержание IRB 920

Страница 1: ...ROBOTICS Product specification IRB 920...

Страница 2: ...Trace back information Workspace 21C version a1 Checked in 2021 09 23 Skribenta version 5 4 005...

Страница 3: ...oduct specification IRB 920T 6 0 45 IRB 920T 6 0 55 IRB 920T 6 0 65 OmniCore Document ID 3HAC075723 001 Revision A Copyright 2021 ABB All rights reserved Specifications subject to change without notic...

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: ...lute Accuracy option 28 1 5 Load diagrams 28 1 5 1 Introduction to load diagram 29 1 5 2 Diagrams 32 1 5 3 Maximum load and moment of inertia 33 1 6 Fitting equipment on the robot robot dimensions 37...

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

Страница 7: ...cifications are used to find data and performance about the product for example to decide which product to buy How to handle the product is described in the product manual The specification is intende...

Страница 8: ...ubrication in gearboxes 3HAC065041 001 Technical reference manual System parameters Revisions Description Revision First edition A 8 Product specification IRB 920 3HAC075723 001 Revision A Copyright 2...

Страница 9: ...t tools peripheral equipment and the robot itself Operating system The robot is equipped with the OmniCore C30 C90 controller and robot control software RobotWare RobotWare supports every aspect of th...

Страница 10: ...0000931 Description Pos Description Pos Axis 2 2 Axis 1 1 Axis 4 4 Axis 3 3 10 Product specification IRB 920 3HAC075723 001 Revision A Copyright 2021 ABB All rights reserved 1 Description 1 1 1 Introd...

Страница 11: ...owing robot versions are available Reach m Handling capacity kg Robot type 0 45 m 6 kg IRB 920T 6 0 45 0 55 m 6 kg IRB 920T 6 0 55 0 65 m 6 kg IRB 920T 6 0 65 Product specification IRB 920 11 3HAC0757...

Страница 12: ...920T 6 0 55 23 kg IRB 920T 6 0 65 24 kg Note The weight does not include tools and other equipment fitted on the robot Loads on foundation robot Tz Fxy Fz Txy xx2000001168 Force in any direction in P...

Страница 13: ...ue xy 900 Nm 150 Nm Torque z Requirements foundation The table shows the requirements for the foundation where the weight of the installed robot is included Note Value Requirement Flat foundations giv...

Страница 14: ...the servo control This might be a problem depending on the requirements from the applications If this is a problem the robot needs to be isolated from the environment Storage conditions robot The tabl...

Страница 15: ...Cube Max velocity W 6 0 65 6 0 55 6 0 45 Robot in calibration position 75 79 85 Brakes engaged W 119 114 136 Brakes disengaged W E1 E4 E3 E2 A xx1000000101 Description Pos 250 mm A Dimensions for rear...

Страница 16: ...ersion Robots with protection class IP30 X 260 116 73 170 149 164 Z 201 5 193 53 xx2000001146 0 65_0 3 0 65_0 18 0 55_0 3 0 55_0 18 0 45_0 3 0 45_0 18 390mm 390mm 290mm 290mm 190mm 190mm X 716 5 596 5...

Страница 17: ...100 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 of machi...

Страница 18: ...1 2012i Arc welding equipment Part 10 EMC requirements IEC 60974 10 2014i Classification of air cleanliness ISO 14644 1 2015ii Degrees of protection provided by enclosures IP code IEC 60529 1989 A2 2...

Страница 19: ...t of 6 kg including payload can be mounted on the lower end of the ball screw spline shaft axis 4 See Load diagrams on page 28 Extra loads The outer arm can handle an additional load of 0 5 kg See Fit...

Страница 20: ...ogo ABB logo ABB logo C F D A B E G A xx2000001143 ABB logo Big size A ABB logo Small size B Rating label C Calibration label D UL label E WEEE label F Read manual and caution G 20 Product specificati...

Страница 21: ...lass 200HV Suitable washer 2 pcs D6 ISO 2338 6m6x20 A1 Guide pins 56 Nm 5 6 Nm Tightening torque 0 1 500 mm Level surface requirements Hole configuration base This illustration shows the hole configur...

Страница 22: ...version A 53 136 8 A 108 3 5 2 5 76 2 59 4x 6H7 2 140 140 13 5 6H7 77 xx2000001148 22 Product specification IRB 920 3HAC075723 001 Revision A Copyright 2021 ABB All rights reserved 1 Description 1 3...

Страница 23: ...al Absolute accuracy calibration data is found on the SMB serial measurement board in the robot A robot calibrated with Absolute accuracy has the option information printed on its name plate To regai...

Страница 24: ...o 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 th...

Страница 25: ...t is aligned For detailed information on calibration of the robot see Product manual IRB 920 xx2100000931 Description Posi tion Description Posi tion Axis 2 2 Axis 1 1 Axis 4 4 Axis 3 3 Product specif...

Страница 26: ...ramming Re use of programs between applications The option Absolute Accuracy is integrated in the controller algorithms and does not need external equipment or calculation Note The performance data is...

Страница 27: ...function based on robtargets e g MoveL and ModPos on robtargets Reorientation jogging Linear jogging Tool definition 4 5 6 point tool definition room fixed TCP stationary tool Work object definition A...

Страница 28: ...mine correct load parameters The routine automatically defines the tool and the load See Operating manual OmniCore for detailed information WARNING Robots running with incorrect load data and or with...

Страница 29: ...0 0 10 0 20 0 30 Z m L m 6 KG 5 KG 4 KG 3 KG 2 KG 1 KG xx2000001807 Description 6 kg Max load 0 102 m Zmax 0 115 m Lmax Continues on next page Product specification IRB 920 29 3HAC075723 001 Revision...

Страница 30: ...30 Z m L m 6 KG 5 KG 4 KG 3 KG 2 KG 1 KG xx2000001808 Description 6 kg Max load 0 102 m Zmax 0 115 m Lmax Continues on next page 30 Product specification IRB 920 3HAC075723 001 Revision A Copyright 2...

Страница 31: ...0 10 0 20 0 30 Z m L m 6 KG 5 KG 4 KG 3 KG 2 KG 1 KG xx2000001809 Description 6 kg Max load 0 102 m Zmax 0 115 m Lmax Product specification IRB 920 31 3HAC075723 001 Revision A Copyright 2021 ABB All...

Страница 32: ...n page 28 Full movement Max value Robot variant Axis J4 Mass x L2 J0Z 0 05 kgm2 IRB 920T 6 0 45 4 J4 Mass x L2 J0Z 0 05 kgm2 IRB 920T 6 0 55 J4 Mass x L2 J0Z 0 12 kgm2 IRB 920T 6 0 65 xx1900001317 Des...

Страница 33: ...164 xx2000001145 Illustration for undeneath outlet cable version X 260 116 73 170 149 164 Z 201 5 193 53 xx2000001146 0 65_0 3 0 65_0 18 0 55_0 3 0 55_0 18 0 45_0 3 0 45_0 18 390mm 390mm 290mm 290mm 1...

Страница 34: ...allowed arm load depends on center of gravity of arm load and robot payload Holes for fitting extra equipment Illustration for rear outlet cable version X 10 33 260 303 20 Y 8xM5 10 192 20 240 5 Z 20...

Страница 35: ...of end effector to the ball screw spline shaft An end effector can be attached to the lower end of the shaft of the ball screw spline unit The dimensions for fitting the end effector is shown in the f...

Страница 36: ...the tool flange only use screws with quality 12 9 For other equipment use suitable screws and tightening torque for your application 36 Product specification IRB 920 3HAC075723 001 Revision A Copyrig...

Страница 37: ...nd 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 depend on...

Страница 38: ...145 G D C B E P Axis 4 rotation center 400 H A P xx2000001137 0 65_0 3 0 65_0 18 0 55_0 3 0 55_0 18 0 45_0 3 0 45_0 18 300mm 180mm 300mm 180mm 300mm 180mm A Axis3 650mm 550mm 450mm B Continues on next...

Страница 39: ...67 8mm 150 9mm E 150 F Axis1 145 G Axis2 400 H Axis4 Working range Note Working range Axis 150 Axis 1 145 Axis 2 180 300 Axis 3 Default value 400 Axis 4 Product specification IRB 920 39 3HAC075723 001...

Страница 40: ...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 of the path at repeated program ex...

Страница 41: ...s IRB 920T 6 0 55 2 500 s 1 200 mm s 780 s 396 s IRB 920T 6 0 65 There is a supervision function to prevent overheating in applications with intensive and frequent movements high duty cycle Axis reso...

Страница 42: ...ategory 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 920 3HAC075723 0...

Страница 43: ...r Description Connection Position Air hose with outer diamet er 4 mm 2 pcs 4 Max 6 bar Air A Air hose with outer diamet er 6 mm 2 pcs 30 V 1 5 A 12 wires Customer power signal C1 B 30 V 1 A or 1 Gbits...

Страница 44: ...tion covers are delivered together with the robot and must be well fitted to the connectors in any application requiring water and dust proofing Always remember to refit the protection covers after re...

Страница 45: ...ing radius is 10 times the cable diameter for static floor cables A B xx1600002016 Diameter A Diameter x10 B Product specification IRB 920 45 3HAC075723 001 Revision A Copyright 2021 ABB All rights re...

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

Страница 47: ...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 48: ...escription Option 180 mm 3312 4 300 mm 3312 6 Manipulator color Description Option ABB Graphite White std 209 202 Note Notice that delivery time for painted spare parts will increase for none standard...

Страница 49: ...e Straight arm Ethernet connector kits 3306 1 Male type Angled arm Ethernet connector kits 3307 1 Straight connector kits Angled connector kits its Straight Ethernet connector kits kits Angled Etherne...

Страница 50: ...Conditions Note This description above is not applicable for option Stock warranty 438 8 Description Type Option Standard warranty is 12 months from Customer Delivery Date or latest 18 months after F...

Страница 51: ...rranty 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 Roboti...

Страница 52: ...uires 3303 1 Parallel Air OR 3303 2 Ethernet Parallel Ethernet cable Length Lengths Option 7 m M12 X coded to RJ45 3202 2 15 m M12 X coded to RJ45 3202 3 Requirements The option Ethernet cable Length...

Страница 53: ...sic software and software options for robot and PC For more information see Application manual Controller software OmniCore Product specification OmniCore C line Product specification IRB 920 53 3HAC0...

Страница 54: ...This page is intentionally left blank...

Страница 55: ...t 33 O operating conditions 14 options 47 P product standards 17 protection classes 14 protection type 14 R requirements on foundation 13 robot dimensions 33 equipment fitting 33 protection class 14 p...

Страница 56: ......

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Страница 58: ...e 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 1...

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