ABB Robotics Product Specification IRB 1600
ABB RoboticsProduct specificationIRB 1600
Product specificationArticulated robotIRB 1600-6/1.2IRB 1600-6/1.45IRB 1600-8/1.2IRB 1600-8/1.45IRB 1600ID-4/1.5M2004Document ID: 3HAC023604-001 Copyright 2004-2010 ABB. All rights reserved.Revision: M
The information in this manual is subject to change without notice and should not beconstrued as a commitment by ABB. ABB assumes no responsibility for any errors thatmay appear in this manual.Except as may be expressly stated anywhere in this manual, nothing herein shall beconstrued as any kind of guarantee or warranty by ABB for losses, damages to personsor property, fitness for a specific purpose or the like.In no event shall ABB be liable for incidental or consequential damages arising fromuse of this manual and products described herein.This manual and parts thereof must not be reproduced or copied without ABB's writtenpermission, and contents thereof must not be imparted to a third party nor be used forany unauthorized purpose. Contravention will be prosecuted. Copyright 2004-2010 ABB All right reserved.ABB ABRobotics ProductsSE-721 68 VästeråsSweden Copyright 2004-2010 ABB. All rights reserved.Additional copies of this manual may be obtained from ABB at its then current charge.
Table of ContentsOverview of this manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 Description71.1 Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71.1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71.1.2 Different robot versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91.2 Standards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131.2.1 Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131.3 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151.3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151.3.2 Operating requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161.3.3 Mounting the manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171.4 Calibration and References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211.4.1 Fine calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211.4.2 Absolute Accuracy calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221.5 Robot load and Load diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241.5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241.5.2 Load diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251.5.3 Maximum load and moment of inertia for full and limited axis 5 (center line down) movement . 301.5.4 Wrist torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321.5.5 Mounting of equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331.6 Robot Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381.6.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381.6.2 Performance according to ISO 9283 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 421.6.3 Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 431.6.4 Stopping distance/time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 441.7 Typical cycle times . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 451.7.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 451.8 Customer connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 461.8.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 461.9 Maintenance and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 Copyright 2004-2010 ABB. All rights reserved.1.9.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 492 Specification of Variants and Options512.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 512.1.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 512.1.2 Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 522.1.3 Positioners . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 592.1.4 Track Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 602.2 Floor cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 612.2.1 Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 612.2.2 Positioner . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 622.3 Process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 632.3.1 DressPack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 632.3.2 Process equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 652.3.3 AW Safety options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 662.3.4 Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 683 Accessories693.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70Index3HAC023604-001 Revision: M713
Copyright 2004-2010 ABB. All rights reserved.Table of Contents43HAC023604-001 Revision: M
Overview of this manualOverview of this manualAbout this Product specificationIt describes the performance of the manipulator or a complete family of manipulators in termsof: The structure and dimensional prints The fulfilment of standards, safety and operating requirements The load diagrams, mounting of extra equipment, the motion and the robot reach The integrated auxiliary equipments as that is: Customer Connections The specification of variant and options availableUsersIt is intended for: Product managers and Product personnel Sales and Marketing personnel Order and Customer Service personnelContentsPlease see Table of Contents. Copyright 2004-2010 ABB. All rights reserved.ReferencesReferenceDocument IDProduct specification - Controller IRC5 with FlexPendant3HAC021785-001Product specification - Controller software IRC53HAC022349-001Product specification - Robot user documentation3HAC024534-001Product manual - IRB 16003HAC023637-001RevisionsRevisionDescription3- Calibration positions and Absolute Accuracy information added in chapter1.4- New Inside address for ABB RobotLoad- New wrist, Type A added in chapter 1.5.5- Figures for customer connections addedD- Option 287-5 Wash removedE- New versions IRB 1600ID-4/1.5, IRB 1600-6/x andIRB 1600-8/x added- Changes in Safety/Standards- Directions of forces added- Increased payloads for standard robots- Arc welding options added- Warranty information for load diagramsF- Old versions removed and AW offer changed.Continues on next page3HAC023604-001 Revision: M5
Overview of this manualContinuedDescriptionG- Changes for Calibration data- Work range- Explanation of ISO values (new figure and table)- Stopping distance- Changes in chapter Specification of Variants and Options, Track Motion andProcess equipment- User documentation on DVDH- Added information about mounting equipment on upper armJ- General update for 9.1 releaseK- Updated/Corrected Clean Room Class- Option 17/6 removed in Variants and OptionsL- Foundry Plus 2- Clean Room removedM- Text for Standards updated Copyright 2004-2010 ABB. All rights reserved.Revision63HAC023604-001 Revision: M
1 Description1.1.1. Introduction1 Description1.1 Structure1.1.1. IntroductionRobot familyA number of new possibilities open up with ABB’s IRB 1600 robot. It is available in fiveversions, and the latest one is the dedicated AW robot, IRB 1600ID-4/1.5 with an compactAW dressed process upper arm.The IRB 1600 family is ideal for Arc Welding, Machine Tending, Material Handling, Gluingand Deburring/Grinding applications.Software product rangeWe have added a range of software products - all falling under the umbrella designation ofActive Safety - to protect not only personnel in the unlikely event of an accident, but alsorobot tools, peripheral equipment and the robot itself.Operating systemThe robot is equipped with the IRC5 controller and robot control software, RobotWare.RobotWare supports every aspect of the robot system, such as motion control, developmentand execution of application programs, communication etc. See Product specification Controller IRC5 with FlexPendant.SafetySafety standards valid for complete robot, manipulator and controller. Copyright 2004-2010 ABB. All rights reserved.Additional functionalityFor additional functionality, the robot can be equipped with optional software for applicationsupport - for example gluing and welding, communication features - network communication- and advanced functions such as multitasking, sensor control etc. For a complete descriptionon optional software, see the Product specification - Controller software IRC5.Foundry Plus 2The Foundry Plus option is designed for harsh environments where the robot is exposed tosprays of coolants, lubricants and metal spits that are typical for die casting applications orother similar applications. Typical applications are spraying insertion and part extraction ofdie-casting machines, cast cleaning, handling in sand casting and gravity casting, etc. (Pleaserefer to Foundry Prime for washing applications or other similar applications). Special caremust be taken in regard to operational and maintenance requirements for applications infoundry are as well as in other applications areas. Please contact ABB Robotics Salesorganization if in doubt regarding specific application feasibility for the Foundry Plusprotected robot. The Foundry Plus robot is painted with two-component epoxy on top of aprimer for corrosion protection. To further improve the corrosion protection additional rustpreventive are applied to exposed and crucial areas, e.g. has the tool flange a specialpreventive coating. Although, continuous splashing of water or other similar rust formationContinues on next page3HAC023604-001 Revision: M7
1 Description1.1.1. IntroductionContinuedfluids may case rust attach on the robots unpainted areas, joints, or other unprotected surfaces.Under these circumstances it is recommended to add rust inhibitor to the fluid or take othermeasures to prevent potential rust formation on the mentioned. The entire robot is IP67compliant according to IEC 60529 - from base to wrist, which means that the electricalcompartments are sealed against liquid and solid contaminants. Among other things allsensitive parts are better protected than the standard offer.Selected Foundry Plus/Foundry Plus 2 features: Improved sealing to prevent penetration into cavities to secure IP67 Additional protection of cabling and electronics Special covers protecting cavities Well-proven connectors Nickel coated tool flange (Foundry Plus 2) Rust preventives on screws, washers and unpainted/machined surfacesThe Foundry Plus robot can be cleaned with appropriate washing equipment according toproduct manual. Appropriate cleaning and maintenance are required to maintain the FoundryPlus 2 protection, for example can rust preventive be washed off with wrong iptionAAxis 1BAxis 2CAxis 3DAxis 4EAxis 5FAxis 63HAC023604-001 Revision: M Copyright 2004-2010 ABB. All rights reserved.Manipulator axes
1 Description1.1.2. Different robot versions1.1.2. Different robot versionsGeneralThe IRB 1600 is available in five versions and four of them can be mounted on the floor, wall,tilted (up to 60 degrees around the Y-axis) or inverted. See Robot Motion on page 38 forlimitations.The IRB 1600ID-4/1.5 can only be mounted on the floor or inverted.Robot typeHandling capacity (kg)Reach (m)IRB 16006 kg1.2 mIRB 16006 kg1.45 mIRB 16008 kg1.2 mIRB 16008 kg1.45 mIRB 1600ID4 kg1.5 mRobotWeightIRB 1600-X/1.2250 kgIRB 1600-X/1.45250 kgIRB 1600ID-4/1.5250 kgDataDescriptionNoteAirborne noise levelThe sound pressure leveloutside the working space 70 dB (A) Leq (acc. toMachinery directive 89/392EEC)Manipulator weight Copyright 2004-2010 ABB. All rights reserved.Other technical dataPower consumptionPath E1-E2-E3-E4 in the ISO Cube, max.load.Power consumption (kW)Speed (mm/s)IRB 1600-x/1.2IRB 50.451000.410.43Continues on next page3HAC023604-001 Revision: M9
1 Description1.1.2. Different robot versionsContinuedxx1000000101DescriptionA400 Copyright 2004-2010 ABB. All rights reserved.PosContinues on next page103HAC023604-001 Revision: M
1 Description1.1.2. Different robot versionsContinued Copyright 2004-2010 ABB. All rights reserved.Dimensions IRB 1600-X/1.2 (1.45)xx1000000972PosDescriptionAR335 Minimum turning radiusContinues on next page3HAC023604-001 Revision: M11
1 Description1.1.2. Different robot versionsContinuedDimensions IRB 1600ID-4/1.5252.51601022.5AK64020011 0214.548 4 8 6 .519)113921 12 (3x Ø710700AK242(150)242278CL Axi s648AIAI(63)(A)xx100000089312PosDescriptionAR335 Minimum turning radius3HAC023604-001 Revision: M Copyright 2004-2010 ABB. All rights reserved.3 3 .5126CL Axi s
1 Description1.2.1. Standards1.2 Standards1.2.1. StandardsStandards, EN ISOThe manipulator system is designed in accordance with the requirements of:StandardDescriptionEN ISO 12100 -1Safety of machinery - Basic concepts, general principles fordesign - Part 1: Basic terminology, methodologyEN ISO 12100 -2Safety of machinery - Basic concepts, general principles fordesign - Part 2: Technical principlesEN ISO 13849-1Safety of machinery, safety related parts of control systems Part 1: General principles for designEN ISO 13850Safety of machinery - Emergency stop - Principles for designEN ISO 10218-11EN ISO 9787Manipulating industrial robots, Coordinate systems and motionnomenclaturesEN ISO 9283Manipulating industrial robots, Performance criteria and relatedtest methodsEN ISO 14644-12Classification of air cleanlinessEN ISO 13732-1Ergonomics of the thermal environment - Part 1EN IEC 61000-6-4 (option129-1)EMC, Generic emissionEN IEC 61000-6-2EMC, Generic immunityEN IEC 60974-13EN IEC 60974-10 Copyright 2004-2010 ABB. All rights reserved.Robots for industrial environments - Safety requirements -Part 1RobotArc welding equipment - Part 1: Welding power sources3Arc welding equipment - Part 10: EMC requirementsEN IEC 60204-1Safety of machinery - Electrical equipment of machines - Part 1General requirementsIEC 60529Degrees of protection provided by enclosures (IP code)1. There is a deviation from paragraph 6.2 in that only worst case stop distances and stoptimes are documented.2. Only robots with Protection Clean Room.3. Only valid for arc welding robots. Replaces EN IEC 61000-6-4 for arc welding robots.European standardsStandardDescriptionEN 614-1Safety of machinery - Ergonomic design principles - Part 1:Terminology and general principlesEN 574Safety of machinery - Two-hand control devices - Functionalaspects - Principles for designEN 953Safety of machinery - General requirements for the design andconstruction of fixed and movable guardsContinues on next page3HAC023604-001 Revision: M13
1 Description1.2.1. StandardsContinuedOther I/RIA R15.06ANSI/RIA R15.06Safety Requirements for Industrial Robots and Robot SystemsSafety Requirements for Industrial Robots and RobotSystemsANSI/UL 1740(option 429- Safety Standard for Robots and Robotic Equipment1) Copyright 2004-2010 ABB. All rights reserved.CAN/CSA Z 434-03(option Industrial Robots and Robot Systems - General Safety Require429-1)ments143HAC023604-001 Revision: M
1 Description1.3.1. Introduction1.3 Installation1.3.1. IntroductionGeneralIRB 1600 can be mounted on the floor, wall, tilted (up to 60 degrees around the Y-axis) orinverted. See Robot Motion on page 38 for limitations.IRB 1600ID-4/1.5 can only be mounted on the floor or inverted. An end effector with max.weight of 6 kg or 8 kg including payload, can be mounted on the tool flange (axis 6), 4 kgvalid for the IRB 1600ID-4/1.5 robot. See Load diagrams on page 25.Extra equipment can be mounted on to the hip and on the upper arm. See Mounting ofequipment on page 33.Extra LoadsExtra load, which is included in the load diagrams, can be mounted on the upper arm. Noextra arm load is included in the load diagram for IRB 1600ID-4/1.5. An extra load of 15 kgcan also be mounted on the frame of axis 1. See Mounting hole for equipment on page 35.Working Range Copyright 2004-2010 ABB. All rights reserved.The working range of axes 1-3 can be limited by mechanical stops. Electronic PositionSwitches can be used on all axes for position indication of the manipulator.3HAC023604-001 Revision: M15
1 Description1.3.2. Operating requirements1.3.2. Operating requirementsProtection StandardsRobot versionProtection Standard IEC60529Standard manipulatorIP 54Protection Foundry Plus 2IP 67IRB 1600ID-4/1.5IP 40Explosive EnvironmentsThe robot must not be located or operated in an explosive environment.Ambient ipulator duringoperationStandard 5 C ( 41 F) to 45 C ( 113 F)For the controllerStandard/OptionSee Product specification - ControllerIRC5 with FlexPendantComplete robot (incl.controller) during transportation and storageStandard- 25 C (- 13 F) to 55 C ( 131 F)For short periods not 24 hours: 70 C ( 158 F)Relative HumidityDescriptionRelative humidity Copyright 2004-2010 ABB. All rights reserved.Complete robot during operation, transportation and Max. 95% at constant temperaturestorage163HAC023604-001 Revision: M
1 Description1.3.3. Mounting the manipulator1.3.3. Mounting the manipulatorGeneralMaximum load in relation to the base coordination system. See Figure on next page.Endurance loadin operationMax. load atEmergency stopForce XYFloor mountedSuspendedWall mountedTilted 30º 1650 N 1650 N 3900 N 2500 N 3150 N 3150 N 5300 N 6000 NForce ZFloor mountedSuspendedWall mountedTilted 30º- 2500 1150 N 2500 1150 N 1300 N 2100 1600 N- 2500 2200 N 2500 2200 N 2400 N 2100 3000 NTorque XYFloor, suspended 1700 Nm 3750 NmTorque ZFloor, suspended 855 Nm 1400 NmTorque XYWall mounted 2310 Nm 3850 NmTorque ZWall mounted 855 Nm 1430 Nm Copyright 2004-2010 ABB. All rights reserved.Mountingxx1000000894Continues on next page3HAC023604-001 Revision: M17
1 Description1.3.3. Mounting the manipulatorContinuedNote regarding Mxy and FxyThe bending torque (Mxy) can occur in any direction in the XY-plane of the base coordinatesystem.The same applies to the transverse force (Fxy).xx1000000895Attachment bolts, specificationThe table below specifies required bolts and washers for securing the robot at installation site.SpecificationDescriptionAttachment bolts, 3 pcsM16 x 60 (installation directly on foundation)M16 x 70/80 (installation on foundation orbase plate, using guiding sleeves)Continues on next page183HAC023604-001 Revision: M Copyright 2004-2010 ABB. All rights reserved.Fastening holes Robot base
1 Description1.3.3. Mounting the s, 3 pcs17 x 30 x 3QualityQuality 8.8, wall mounted quality 12.9Tightening torque200 NmNOTE!Note: For wall mounted robot, two guide bushings according to Figure below are needed. Copyright 2004-2010 ABB. All rights reserved.Regarding Abs.Acc. performance, the chosen guide holes according to Figure in thebeginning of this chapter are recommended.Continues on next page3HAC023604-001 Revision: M19
1 Description1.3.3. Mounting the urface treatment, ISO 2081 Fe/Zn 8 c2, Guide bushingBView DC3x common zone3HAC023604-001 Revision: M Copyright 2004-2010 ABB. All rights reserved.Mounting surface and bushings
1 Description1.4.1. Fine calibration1.4 Calibration and References1.4.1. Fine calibrationGeneralFine calibration is made using the Calibration Pendulum, please see Operating manual Calibration Pendulum Copyright 2004-2010 ABB. All rights Axis 1BAxis 2CAxis 3DAxis 4EAxis 5FAxis 6CalibrationCalibrationPositionCalibration of all axesAll axes are in zero positionCalibration of axis 1 and 2Axis 1 and 2 in zero positionAxis 3 to 6 in any positionCalibration of axis 1Axis 1 in zero positionAxis 2 to 6 in any position3HAC023604-001 Revision: M21
1 Description1.4.2. Absolute Accuracy calibration1.4.2. Absolute Accuracy calibrationGeneralRequires RobotWare option Absolute Accuracy, please see Product specification - Controllersoftware IRC5/RobotWare Options for more details.The calibration conceptAbsolute Accuracy (AbsAcc) is a calibration concept, which ensures a TCP absoluteaccuracy of better than 1 mm in the entire working range (working range of bendingbackward robots, for example IRB 1600, are limited to only forward positions).Absolute accuracy compensates for: Mechanical tolerances in the robot structure Deflection due to loadAbsolute accuracy calibration is focusing on positioning accuracy in the cartesian coordinatesystem for the robot. It also includes load compensation for deflection caused by the tool andequipment. Tool data from robot program is used for this purpose. The positioning will bewithin specified performance regardless of load.Calibration dataThe user is supplied with robot calibration data (compensation parameters saved on themanipulator SMB) and a certificate that shows the performance (Birth certificate). Thedifference between an ideal robot and a real robot without AbsAcc can typically be 8 mm,resulting from mechanical tolerances and deflection in the robot structure. Copyright 2004-2010 ABB. All rights reserved.If there is a difference, at first start-up, between calibration data in controller and the robotSMB, correct by copying data from SMB to controller.Continues on next page223HAC023604-001 Revision: M
1 Description1.4.2. Absolute Accuracy calibrationContinuedAbsolute Accuracy optionAbsolute Accuracy option is integrated in the controller algorithms for compensation of thisdifference and does not need external equipment or calculation.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 theCartesian coordinate system.xx1000000897Production dataTypical production data regarding calibration are:Positioning accuracy (mm) Copyright 2004-2010 ABB. All rights reserved.RobotAverageMax% Within 1 mmIRB 1600-6/1.2-6/1.45-8/1.2-8/1.450.300.65100IRB 1600ID-4/1.50.350.651003HAC023604-001 Revision: M23
1 Description1.5.1. Introduction1.5 Robot load and Load diagrams1.5.1. IntroductionInformationWARNING!It is very important to always define correct actual load data and correct payload of the robot.Incorrect definitions of load data can result in overloading of the robot.If incorrect load data and/or loads are outside load diagram is used the following parts can bedamaged due to overload: motors gearboxes mechanical structureWARNING!In the robot system is the service routine LoadIdentify available, which allows the user tomake an automatic definition of the tool and load, to determine correct load parameters.Please see Operating Manual - IRC5 with FlexPendant, art. No. 3HAC16590-1, for detailedinformation.WARNING!Robots running with incorrect load data and/or with loads outside diagram, will not becovered by robot warranty.GeneralAt different arm load and moment of inertia the load diagram will be changed.Control of load case by “RobotLoad”For an easy check of a specific load case, use the calculation program ABB RobotLoad.Please contact your local ABB organization.243HAC023604-001 Revision: M Copyright 2004-2010 ABB. All rights reserved.The load diagrams include a nominal pay load inertia, J0 of 0.012 kgm2, and an extra load of15 kg for the IRB 1600-6/x variants and IRB 1600ID-4/1.5 (hose package included), 5 kg forthe IRB 1600-8/x variants , at the upper arm housing.
1 Description1.5.2. Load diagrams1.5.2. Load diagrams Copyright 2004-2010 ABB. All rights reserved.IRB 1600-6/1.2, IRB 1600-6/1.45xx1000000899Extra load of 15 kg at the upper arm housing included in the load diagram.Continues on next page3HAC023604-001 Revision: M25
1 Description1.5.2. Load diagramsContinuedxx1000000901Extra load of 15 kg at the upper arm housing included in the load diagram.DescriptionValuesFor wrist down (0 deviation from the vertical line)and no arm loads.Max load 13 kgZMax 0.057 mLMax 0.031 mContinues on next page263HAC023604-001 Revision: M Copyright 2004-2010 ABB. All rights reserved.IRB 1600-6/1.2, IRB 1600-6/1.45 “Vertical Wrist” ( 10º)
1 Description1.5.2. Load diagramsContinuedIRB 1600-8/1.2, IRB 1600-8/1.45xx1000000900 Copyright 2004-2010 ABB. All rights reserved.Extra load of 5 kg at the upper arm housing included in the load diagram.Continues on next page3HAC023604-001 Revision: M27
1 Description1.5.2. Load diagramsContinuedxx1000000902Extra load of 5 kg at the upper arm housing included in the load diagram.DescriptionValuesFor wrist down (0 deviation from the vertical line)and no arm loads.Max load 12 kgZMax 0.055 mLMax 0.017 mContinues on next page283HAC023604-001 Revision: M Copyright 2004-2010 ABB. All rights reserved.IRB 1600-8/1.2, IRB 1600-8/1.45 “Vertical Wrist” ( 10º)
1 Description1.5.2. Load diagramsContinued Copyright 2004-2010 ABB. All rights reserved.IRB 1600ID-4/1.5xx1000000898Extra load of 15 kg (hose package included) at the upper arm housing included in the loaddiagram.3HAC023604-001 Revision: M29
1 Description1.5.3. Maximum load and moment of inertia for full and limited axis 5 (center line down) movement1.5.3. Maximum load and moment of inertia for full and limited axis 5 (center linedown) movementGeneralTotal load given as: Mass in kg, center of gravity (Z and L) in m and moment of inertia (Jox,Joy, Jox) in kgm2. L (X2 Y2), see Figure below.Full movement of Axis 5 ( 115º)Axis Robot TypeMax. value5IRB 1600-6/xJ5 Mass x ((Z 0.065)2 L2) max (Jox, Joy) 0.42 kgm26IRB 1600-6/xJ6 Mass x L2 J0Z 0.30 kgm2Axis Robot TypeMax. value5IRB 1600-8/xJ5 Mass x ((Z 0.065)2 L2) max (Jox, Joy) 0.53 kgm26IRB 1600-8/xJ6 Mass x L2 J0Z 0.39 kgm2Full movement of Axis 5 ( 155º to -90º)Max. value5IRB 1600ID-4/1.5 J5 Mass x ((Z 0.2002 L2) max (Jox, Joy) 0.58 kgm26IRB 1600ID-4/1.5 J6 Mass x L2 J0Z 0.24 kgm2xx1000000903PosDescriptionACenter of gravityDescriptionJox, Joy, J0ZMax. moment of inertia around the X, Y and Z axes at center of gravity.Limited axis 5, Center line downAxis Robot TypeMax. value5IRB 1600-6/xJ5 Mass x ((Z 0.065)2 L2) max (Jox, Joy) 0.55 kgm25IRB 1600-8/xJ5 Mass x ((Z 0.065)2 L2) max (Jox, Joy) 0.65 kgm26IRB 1600-6/xJ6 Mass x L2 J0Z 0.40 kgm26IRB 1600-8/xJ6 Mass x L2 J0Z 0.48 kgm2Continues on next page303HAC023604-001 Revision: M Copyright 2004-2010 ABB. All rights reserved.Axis Robot Typ
Robot family A number of new possibilities open up with ABB’s IRB 1600 robot. It is available in five versions, and the latest one is the dedicated AW robot, IRB 1600ID-4/1.5 with an compact AW dressed process upper arm. The IRB 1600 family is ideal for Arc Welding, Machine Tending, Mater
The Future of Robotics 269 22.1 Space Robotics 273 22.2 Surgical Robotics 274 22.3 Self-Reconfigurable Robotics 276 22.4 Humanoid Robotics 277 22.5 Social Robotics and Human-Robot Interaction 278 22.6 Service, Assistive and Rehabilitation Robotics 280 22.7 Educational Robotics 283
Title: Template Communication Plan for SMART IRB Subject: Institutions can use this template to document key communication roles, such as submitting initial and continuing reviews, amendments, and reportable events to the Reviewing IRB; providing conflict of interest management plans to the Reviewing IRB; and pr oviding IRB-approved docume
Overview and vision May 12, 2017 Slide 6 IRB 140 §On market for 10 years, has reached its full potential § Good market reputation § Good performance in terms of accuracy and robustness § One major drawback - bulkiness. § Aim of IRB 1200 to be a compact robot able to build upon and improve most of IRB 140 features IRB 1200
ABB Control SECRL - 1 2001-06-19 A New Contactor Range from ABB New Generation ABB Contactors. ABB Control SECRL - 2 2001-06-19 The ABB range of A The ABB range of A contactorscontactors A 9, A 12, A 16 A 26, A 30, A 40 A 50, A 63, A 75 A 95, A
ABB - global market and technology leader in AC drives ABB (www.abb.com) is a leader in power and automation technologies that enable utility and industry customers to improve their performance while lowering environmental impact. ABB is the world's largest drives manufacturer. The ABB Group of companies operates in around 100 countries
Jul 02, 2019 · Regulatory Binder Tabs for BMC/BU Medical Campus Clinical Research Studies Version 3.0; 7/1/2019 Tab 1: IRB Review Documentation IRB membership: The IRB roster documents that the IRB’s composition is in compliance with Department of Health and Human Services (DHH
system. The 12 independent IRBs will be transitioning to one IRB office, and the three different protocol and data-management systems are being consolidated into one. The goal is to improve the consistency of IRB review and the overall efficiency of the IRB system. This type of IRB reorganization has been deployed successfully at universities
Grade 2 ELA Standards, Clarifications and Glossary 2 GRADE 2 READING STRAND: K-12 Standards for Reading define what students should understand and be able to do by the end of each grade. Students should demonstrate their proficiency of these standards both orally and through writing. For students to be college and
