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ROBOTICS
Product specificationLinear Axis
Trace back information:Workspace R17-2 version a19 (not checked in)Published 2017-10-17 at 10:06:48Skribenta version 5.1.011
Product specificationIRB 6620LX-150/1.9
Document ID: 3HAC036094-001Revision: N
© Copyright 2009-2017 ABB. All rights reserved.
The information in this manual is subject to change without notice and should notbe construed as a commitment by ABB. ABB assumes no responsibility for any errorsthat may 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 topersons or 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'swritten permission.Keep for future reference.Additional copies of this manual may be obtained from ABB.
Original instructions.
© Copyright 2009-2017 ABB. All rights reserved.ABB AB, Robotics
Robotics and MotionSe-721 68 Västerås
Sweden
Table of contents7Overview of this specification ..........................................................................................................
91 Description91.1 Structure .........................................................................................................91.1.1 Introduction to the structure ......................................................................
111.1.2 The IRB 6620LX robot ..............................................................................151.2 Standards and safety .........................................................................................151.2.1 Applicable standards ...............................................................................171.3 Installation .......................................................................................................171.3.1 Introduction to installation .........................................................................181.3.2 Operating requirements ............................................................................191.3.3 Forces ...................................................................................................231.3.4 Hole configuration ...................................................................................261.3.5 Securing the frame support .......................................................................281.4 Motion .............................................................................................................281.4.1 Motion ...................................................................................................301.4.2 Performance according to ISO 9283 ............................................................311.4.3 Velocity .................................................................................................321.4.4 Stopping distance/time .............................................................................331.5 Maintenance and troubleshooting .........................................................................331.5.1 Maintenance and Troubleshooting ..............................................................
352 Specification of variants and options352.1 Introduction to variants and options ......................................................................362.2 IRB 6620LX-150/1.9 ...........................................................................................412.3 Leg distances ...................................................................................................
45Index
Product specification - Linear Axis 53HAC036094-001 Revision: N
© Copyright 2009-2017 ABB. All rights reserved.
Table of contents
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Overview of this specificationAbout this product specification
This product specification describes the performance of the Linear Axis in termsof:
• The structure and dimensional prints• The fulfilment of standards, safety and operating requirements• The motion and reach• The specification of variants and options available
UsageProduct specifications are used to find data and performance about the product,for example to decide which product to buy. How to handle the product is describedin the product manual.
UsersThis specification is intended for:
• Product managers and product personnel• Sales and marketing personnel• Order and customer service personnel
References
Document IDReference
3HAC047400-001Product specification - Controller IRC5IRC5 with main computer DSQC1000.
3HAC048264-001Product specification - Controller software IRC5IRC5 with main computer DSQC1000 and RobotWare 5.6x.
3HAC050945-001Product specification - Controller software IRC5IRC5 with main computer DSQC1000 and RobotWare 6.
3HAC025861-001Product specification - IRB 6620
3HAC035737-001Product manual - IRB 6620LX
3HAC052355-001Product specification - Robot user documentation, IRC5 with RobotWare6
Revisions
DescriptionRevision
New product specification-
New document structureA
Text for Standards updated, correctionsB
Option Double Carriage added, minor correctionsC• Table for ambient temperature adjusted• Minor corrections
D
• Machinery directive updatedE
Continues on next pageProduct specification - Linear Axis 73HAC036094-001 Revision: N
© Copyright 2009-2017 ABB. All rights reserved.
Overview of this specification
DescriptionRevision• General updates/corrections• Information regarding location of controller connection at Double
carriage
F
• Information regarding warranty added• Measures for mounting the frame support added
G
• New standard color added• Minor corrections/update
H
• Information regarding performance for double carriages addedJ• Minor corrections/updateK• Working range drawings updatedL• Measures for lower legs added to drawings in Structure on page 9.M• Updated list of applicable standards.N
8 Product specification - Linear Axis3HAC036094-001 Revision: N
© Copyright 2009-2017 ABB. All rights reserved.
Overview of this specificationContinued
1 Description1.1 Structure
1.1.1 Introduction to the structure
GeneralThe IRB 6620LX-150/1.9 combines a linear axis 1 with a five axes articulatedmanipulator. Complex operations and handling tasks can be solved more flexible,and cost efficient with an articulated robot on a linear axis compared with acustomized linear handling system.Typical usage can be tending ofmachine tool, injectionmoulding, die cast, assemblylines, and process applications.
IRC5 and RobotWareThe robot is equipped with the IRC5 controller and robot control softwareRobotWare, that supports every aspect of the robot system, such asmotion control,development and execution of application programs, communication, etc. SeeProduct specification - Controller IRC5 with FlexPendant and Productspecification - Controller software IRC5.
SafetySafety standards require that the IRB 6620LX is connected to the robot system.
Additional functionalityFor additional functionality, the IRB 6620LX can be equipped with optional softwarefor motion coordination and application support.For exampleMultiMove Coordinated, seeProduct specification - Controller softwareIRC5.
WarrantyWarranty valid for the Linear Axis is the same as the warranty selected for the5-axis manipulator, on the specification form for IRB 6620.
Continues on next pageProduct specification - Linear Axis 93HAC036094-001 Revision: N
© Copyright 2009-2017 ABB. All rights reserved.
1 Description1.1.1 Introduction to the structure
IRB 6620LX-150/1.9
xx1000000065
DescriptionPosDescriptionPos
Cable chainDLower LegA
5 axis manipulatorEUpper LegB
Carriage, axis 1FBeamC
10 Product specification - Linear Axis3HAC036094-001 Revision: N
© Copyright 2009-2017 ABB. All rights reserved.
1 Description1.1.1 Introduction to the structureContinued
1.1.2 The IRB 6620LX robot
IntroductionThe IRB 6620LX-150/1.9 is available in two configurations, for side or invertedinstalled manipulator (see figure below) and with travel length between 1.8 and33.0 meters and height between 2.5 and 4.0 meters.
xx1000000064
DescriptionPos
Side mounted manipulatorA
Inverted mounted manipulatorB
WeightBelow is the weight of the different parts of the robot system specified.
WeightDescriptionPart
610 kgAxes 2 - 6Manipulator
860 kgMin travel length 1.8 m + carriageLinear axis 1
250 kg/mWeight per each extra 1 m travel lengthBeam
530 kgUpper leg
1300 kgMax heightLower leg
Other technical data
NoteDescriptionData
< 74 dB (A) Leq / 1m (acc. to Ma-chinery directive 2006/42/EG).
The sound pressure level out-side the working space
Airborne noise level
Power consumption at max load
IRB 6620LX-150/1.9Type of movement
3.0 kWISO Cube
Continues on next pageProduct specification - Linear Axis 113HAC036094-001 Revision: N
© Copyright 2009-2017 ABB. All rights reserved.
1 Description1.1.2 The IRB 6620LX robot
Dimensions
xx1000000066
DescriptionPos
Total beam length = Selected travel length X (1800 to 33000) i + 1800 mm.A
550 to 2750 mm (in steps of 100 mm)B
Distance between 1500 to 8000mm (in steps of 100mm) as standard. Up to 12000mm possible but risk that performance may be affected.
C
Max 800 mm (valid for both sides for double carriage)D
Max 500 mmE
1100 mmFi Actual travel length is 20 mm shorter than specificed.
Continues on next page12 Product specification - Linear Axis
3HAC036094-001 Revision: N© Copyright 2009-2017 ABB. All rights reserved.
1 Description1.1.2 The IRB 6620LX robotContinued
18841468
1210
R5
34
1500
A (
25
00
- 4
00
0) 1
88
41
88
4xx1000000067
DescriptionPos
Selected height (2500 - 4000 mm) in steps of 100 mm.A
Note
Height is defined differently depending on manipulator installation.
Continues on next pageProduct specification - Linear Axis 133HAC036094-001 Revision: N
© Copyright 2009-2017 ABB. All rights reserved.
1 Description1.1.2 The IRB 6620LX robot
Continued
1500
1884
750
38
0
R5
34
10
56
A (
25
00
- 4
00
0)
18
84
14
68
1884
xx1000000068
DescriptionPos
Selected height (2500 - 4000 mm) in steps of 100 mm.A
14 Product specification - Linear Axis3HAC036094-001 Revision: N
© Copyright 2009-2017 ABB. All rights reserved.
1 Description1.1.2 The IRB 6620LX robotContinued
1.2 Standards and safety
1.2.1 Applicable standards
Note
The listed standards are valid at the time of the release of this document. Phasedout or replaced standards are removed from the list when needed.
Standards, EN ISOThe product is designed in accordance with the requirements of:
DescriptionStandard
Safety of machinery - General principles for design - Risk as-sessment and risk reduction
EN ISO 12100:2010
Safety of machinery, safety related parts of control systems -Part 1: General principles for design
EN ISO 13849-1:2015
Safety of machinery - Emergency stop - Principles for designEN ISO 13850:2015
Robots for industrial environments - Safety requirements -Part1 Robot
EN ISO 10218-1:2011
Robots and robotic devices -- Coordinate systems and motionnomenclatures
ISO 9787:2013
Manipulating industrial robots, performance criteria, and relatedtest methods
ISO 9283:1998
Classification of air cleanlinessEN ISO 14644-1:2015 i
Ergonomics of the thermal environment - Part 1EN ISO 13732-1:2008
EMC, Generic emissionEN 61000-6-4:2007 +A1:2011IEC 61000-6-4:2006 +A1:2010(option 129-1)
EMC, Generic immunityEN 61000-6-2:2005IEC 61000-6-2:2005
Arc welding equipment - Part 1: Welding power sourcesEN IEC 60974-1:2012 ii
Arc welding equipment - Part 10: EMC requirementsEN IEC 60974-10:2014 ii
Safety of machinery - Electrical equipment of machines - Part1 General requirements
EN IEC 60204-1:2006
Degrees of protection provided by enclosures (IP code)IEC 60529:1989 + A2:2013i Only robots with protection Clean Room.ii Only valid for arc welding robots. Replaces EN IEC 61000-6-4 for arc welding robots.
European standards
DescriptionStandard
Safety of machinery - Ergonomic design principles - Part 1:Terminology and general principles
EN 614-1:2006 + A1:2009
Continues on next pageProduct specification - Linear Axis 153HAC036094-001 Revision: N
© Copyright 2009-2017 ABB. All rights reserved.
1 Description1.2.1 Applicable standards
DescriptionStandard
Safety of machinery - Two-hand control devices - Functionalaspects - Principles for design
EN 574:1996 + A1:2008
Other standards
DescriptionStandard
Safety requirements for industrial robots and robot systemsANSI/RIA R15.06
Safety standard for robots and robotic equipmentANSI/UL 1740
Industrial robots and robot Systems - General safety require-ments
CAN/CSA Z 434-14
16 Product specification - Linear Axis3HAC036094-001 Revision: N
© Copyright 2009-2017 ABB. All rights reserved.
1 Description1.2.1 Applicable standardsContinued
1.3 Installation
1.3.1 Introduction to installation
IntroductionThe linear axis and the 5 axes manipulator are delivered separately and must beinstalled and assembled together on site. The linear axis is intended for floormounting on therefore designed legs or mounted onto already existing stands.Detailed information regarding mechanical installation can be found in the productmanual.
Product specification - Linear Axis 173HAC036094-001 Revision: N
© Copyright 2009-2017 ABB. All rights reserved.
1 Description1.3.1 Introduction to installation
1.3.2 Operating requirements
Protection standards
ClassDescriptionProtection
IP66 (connectors IP67)Axis 1 (linear axis)Standard
IP54Axis 2-6 (articulated manipulator)Standard
IP67Axis 2-6 (articulated manipulator)Foundry Plus 2
Explosive environmentsThe IRB 6620LX must not be located or operated in an explosive environment.
Ambient temperature
TemperatureStandard/OptionDescription
+ 5°C i (41°F) to + 50°C (122°F)StandardDuring operation
- 25°C (-13°F) to + 55°C (131°F)StandardDuring transportationand storage
up to + 70°C (158°F)StandardFor short periods (notexceeding 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. Otherwise there is a risk that the robot stops or run withlower performance due to temperature dependent oil- and grease viscosity.
Relative humidity
Relative humidityDescription
Max. 95% at constant temperatureComplete unit during transportation and storage
Max. 95% at constant temperatureComplete unit during operation
18 Product specification - Linear Axis3HAC036094-001 Revision: N
© Copyright 2009-2017 ABB. All rights reserved.
1 Description1.3.2 Operating requirements
1.3.3 Forces
CAUTION
If two IRB 6620LX are mounted on the same linear axis, then they may influenceeach other causing vibrations. Therefore, is the securing of the frame supportextra important for applications where even small vibrations can causedisturbances.
Forces, side mounted robot
Max. load at Emergency stopEndurance load in operationRobot loads
11.5 ±11.3 kN11.5 ±3.5 kNForce X
7.7 kN5.2 kNForce Y
13.5 kN5.6 kNForce Z
17.8 kNm8.3 kNmTorque X
29.5 kNm14.8 kNmTorque Y
9 kNm6.5 kNmTorque Z
Continues on next pageProduct specification - Linear Axis 193HAC036094-001 Revision: N
© Copyright 2009-2017 ABB. All rights reserved.
1 Description1.3.3 Forces
Other loads: Beam mass = (1.8 + travel length) x 250kg/m
y(F ) y
Torque Y
Force
Torque Z
Y
Z
X
X
418
Torque X
x(F ) xForce
x(F ) xForce
z(F ) zForce
xx1000000056
Above forces are forces from the robot acting on the beam. For leg dimensioning,the beam mass needs to be added. Recommendation is to dimension each legwith 100% of the robot force + beam mass according to table below:
Beam mass distribution
Leg 7Leg 6Leg 5Leg 4Leg 3Leg 2Leg 1No. of legs
-----Mass/2Massa /22
----Mass/2Mass/2Mass/23
---Mass/3Mass/3Mass/3Mass/34
--Mass/4Mass/4Mass/4Mass/4Mass/45
-Mass/5Mass/5Mass/5Mass/5Mass/5Mass/56
Mass/6Mass/6Mass/6Mass/6Mass/6Mass/6Mass/67
a. Mass in table above = Beam mass, 250 kg/m
Continues on next page20 Product specification - Linear Axis
3HAC036094-001 Revision: N© Copyright 2009-2017 ABB. All rights reserved.
1 Description1.3.3 ForcesContinued
Forces, inverted mounted robot
Max. load at Emergency stopEndurance load in operationRobot loads
13.4 kN4.9 kNForce X
7.7 kN5.2 kNForce X
11.5 ±11.3 kN11.5 ±3.5 kNForce X
18.5 kNm8.5 kNmTorque X
21.5 kNm11.2 kNmTorque X
9.1 kNm6.1 kNmTorque X
y(F ) yForce
x(F ) xForce
z(F ) zForce
z(F ) zForce
Torque Z
Torque X
Y
Z
Torque Y
Z
X
41
8
xx1000000055
Above forces are forces from the robot acting on the beam. For leg dimensioning,the beam mass needs to be added. Recommendation is to dimension each legwith 100% of the robot force + beam mass according to table below:
Beam mass distribution
Leg 7Leg 6Leg 5Leg 4Leg 3Leg 2Leg 1No. of legs
-----Mass/2Mass i /22
----Mass/2Mass/2Mass/23
---Mass/3Mass/3Mass/3Mass/34
Continues on next pageProduct specification - Linear Axis 213HAC036094-001 Revision: N
© Copyright 2009-2017 ABB. All rights reserved.
1 Description1.3.3 Forces
Continued
Beam mass distribution
Leg 7Leg 6Leg 5Leg 4Leg 3Leg 2Leg 1No. of legs
--Mass/4Mass/4Mass/4Mass/4Mass/45
-Mass/5Mass/5Mass/5Mass/5Mass/5Mass/56
Mass/6Mass/6Mass/6Mass/6Mass/6Mass/6Mass/67i Mass in table above = Beam mass, 250 kg/m
22 Product specification - Linear Axis3HAC036094-001 Revision: N
© Copyright 2009-2017 ABB. All rights reserved.
1 Description1.3.3 ForcesContinued
1.3.4 Hole configuration
Hole configuration for two legs
xx1000000057
DescriptionPos
Hole distance 1500 to 8000 mm (depending on selection, in steps of 100 mm).AThis applies for all selected legs. Up to 12,000 is possible but there is a risk thatperformance may be affected.
Hole distance 1000 mmB
Hole distance 1500 mmC
Support/framework 1600 mmD
Support/framework 1100 mmE
Continues on next pageProduct specification - Linear Axis 233HAC036094-001 Revision: N
© Copyright 2009-2017 ABB. All rights reserved.
1 Description1.3.4 Hole configuration
Upper leg dimensionsThe illustration below shows the dimensions of the upper leg, from below, if lowerlegs are designed at site.
xx1000000063
xx1000000062
Continues on next page24 Product specification - Linear Axis
3HAC036094-001 Revision: N© Copyright 2009-2017 ABB. All rights reserved.
1 Description1.3.4 Hole configurationContinued
Mounting platesHole configuration for mounting plates, when no upper legs are selected.
100 100(A)
18
0
40
0
33
0
(B) 240
M24 (x16)
(C)
xx1100000504
DescriptionPos
500 mm for side mountingA300 mm for inverted mounting
360 mm for side mountingB160 mm for inverted mounting
Thickness of plates = 35 mmC
Product specification - Linear Axis 253HAC036094-001 Revision: N
© Copyright 2009-2017 ABB. All rights reserved.
1 Description1.3.4 Hole configuration
Continued
1.3.5 Securing the frame support
Concrete floor > 340For concrete floor with a depth ofmore than 340mm is option 1161-1 recommended.
10001500
xx1000000053
Ground levelling screw, M56x3A
Support/frameworkB
Anchor bolt, M30x270C
Chemical anchor cartridgeD
Drill depth 270 mmE
Continues on next page26 Product specification - Linear Axis
3HAC036094-001 Revision: N© Copyright 2009-2017 ABB. All rights reserved.
1 Description1.3.5 Securing the frame support
Concrete floor > 220For concrete floor with a depth ofmore than 220mm is option 1160-1 recommended.After that the support stands are positioned they are welded to the base plate bythe weld nuts.
1000 1500
275
350
275 x4 275 x4
xx1000000054
ScrewA
Ground levelling screw, M56x3B
Support/frameworkC
Weld nut Height = 80 mmD
Base plate Thickness = 30 mmE
Drill depth 170 mmF
Anchor bolt, M20G
Weld thickness a 5 mmk
Seam length 330 mmn
Product specification - Linear Axis 273HAC036094-001 Revision: N
© Copyright 2009-2017 ABB. All rights reserved.
1 Description1.3.5 Securing the frame support
Continued
1.4 Motion
1.4.1 Motion
Type of motion
Range of motionType of motionAxis
IRB 6620LX-150/1.9
1.8 to 33.0 mLinear motion1
+ 125° to - 125°Arm motion2
+ 70° to - 180°Arm motion3
+ 300° to - 300°Wrist motion4
+ 130° to - 130°Bend motion5
+ 300° to - 300° default± 96 Revolutions iTurn motion6i 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 revolution counter afterthe axis has been rotated (no need for “rewinding” the axis).
IRB 6620LX-150/1.9
xx1000000061
DescriptionPos
Travel length 1.8 to 33.0 m (in steps of 400 mm) iA
For side mounted version max. 3768 mmBFor inverted mounted version max. 3352 mm
i Actual travel length is 20 mm shorter than specified.
Continues on next page28 Product specification - Linear Axis
3HAC036094-001 Revision: N© Copyright 2009-2017 ABB. All rights reserved.
1 Description1.4.1 Motion
IRB 6620LX-150/1.9 Side version
R 534
25
00
- 4
00
00
18
84
18841468
18
84
xx1000000069
Note
Height is defined differently depending on manipulator installation.
IRB 6620LX-150/1.9 Inverted version1884
1884
14
68
18
84
25
00
- 4
00
0 *
R 5
34
38
0
750
xx1000000070
* To base of manipulator.
Product specification - Linear Axis 293HAC036094-001 Revision: N
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1 Description1.4.1 Motion
Continued
1.4.2 Performance according to ISO 9283
GeneralAt rated maximum load, maximum offset and 1.6 m/s velocity on the inclined ISOtest plane, 1 m cube with all axes in motion. Performance may differ slightlydepending on hardware configuration of the linear axis. The data is measured witha side mounted manipulator, linear axis height 2.5 m and a leg distance of 6 m.The ISO-cube test is done in the middle between the legs.
xx0800000424
DescriptionPosDescriptionPos
Programmed pathEProgrammed positionA
Actual path at program executionDMean position at programexecution
B
Max deviation from EATMean distance from pro-grammed position
AP
Tolerance of the path at repeatedprogram execution
RTTolerance of position B at re-peated positioning
RP
Performance iIRB 6620LX-150/1.9
0.05Pose repeatability, RP (mm)
0.04Pose accuracy, AP ii (mm)
3.89Path accuracy, AT (mm)
0.77Path repeatability, RT (mm)
0.15Pose stabilization time, PSt (s)i Performance may differ slightly depending on hardware configuration. The data is measured with
a side mounted manipulator, linear axis height 2.5 m and a leg distance of 6 m. The ISO-cuberunning is done in the middle between the legs.
ii AP according to the ISO test above, is the difference between the teached position (positionmanuallymodified in the cell) and the average position obtained during program execution.
Note
Performance values for IRB 6620LX are not all valid to be used as indicators fordouble carriage systems.
30 Product specification - Linear Axis3HAC036094-001 Revision: N
© Copyright 2009-2017 ABB. All rights reserved.
1 Description1.4.2 Performance according to ISO 9283
1.4.3 Velocity
Maximum axis speed
Axis 6Axis 5Axis 4Axis 3Axis 2Axis 1Robot Type
190 °/s120 °/s150 °/s90 °/s90 °/s3.3 m/sIRB 6620LX-150/1.9
Axis Resolution0.001° to 0.005°.
Product specification - Linear Axis 313HAC036094-001 Revision: N
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1 Description1.4.3 Velocity
1.4.4 Stopping distance/time
GeneralStopping distance/time for emergency stop (category 0) and program stop (category1) at max speed and max load, categories according to EN 60204-1.
Main power failureCategory 1Categiry 0Robot type
BABABAAxis
0.591.110.761.350.540.9501 iIRB 6620LX
0.4220.9400.4162
0.3170.4200.2113i The stopping distance for linear axis 1 is measured in m.
Description
Stopping distance in degrees (except for linear axis 1)A
Stop time (s)B
32 Product specification - Linear Axis3HAC036094-001 Revision: N
© Copyright 2009-2017 ABB. All rights reserved.
1 Description1.4.4 Stopping distance/time
1.5 Maintenance and troubleshooting
1.5.1 Maintenance and Troubleshooting
GeneralThe IRB 6620LX requires onlyminimummaintenance during operation. It has beendesigned to make it as easy to service as possible:
• Maintenance-free AC motor is used.• Oil is used for 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.
MaintenanceThe maintenance intervals depend on the use of the IRB 6620LX. For detailedinformation on maintenance procedures, see Maintenance section in the ProductManual.
Product specification - Linear Axis 333HAC036094-001 Revision: N
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1 Description1.5.1 Maintenance and Troubleshooting
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2 Specification of variants and options2.1 Introduction to variants and options
InformationThe different variants and options for the IRB 6620LX are described below. Thesame numbers are used here as in the specification form.
Related informationFor IRB 6620LX (articulated manipulator, axes 2-6) options, see Productspecification - IRB 6620.For the controller see Product specification - Controller IRC5 with FlexPendant.For the software options see Product specification - Controller software IRC5.
Product specification - Linear Axis 353HAC036094-001 Revision: N
© Copyright 2009-2017 ABB. All rights reserved.
2 Specification of variants and options2.1 Introduction to variants and options
2.2 IRB 6620LX-150/1.9
Valid for product
NoteIRB TypeOption
Linear Axis for IRB 6620LX-150/1.9.IRB 6620LX-150/1.91086-7
Manipulator colorThe option enable selection of color of the carriage only. Manipulator color isspecified on Specification Form for IRB 6620(LX).
NoteDescriptionOption
ABB orange standard209-1
ABB white standard209-2
Standard colorABB Graphite White standard209-202
RAL code should be specified209-
Note
Notice that delivery time for painted spare parts will increase for none standardcolors.
Manipulator mountingThe manipulator can be mounted in two ways on the linear axis 1.
NoteDescriptionOption
Side mounted1145-1
Inverted mounted1145-2
xx1000000058
DescriptionPos
Inverted mounted manipulatorA
Continues on next page36 Product specification - Linear Axis
3HAC036094-001 Revision: N© Copyright 2009-2017 ABB. All rights reserved.
2 Specification of variants and options2.2 IRB 6620LX-150/1.9
DescriptionPos
Side mounted manipulatorB
Type of carriageThe Linear Axis can be ordered with a second carriage. Options for Controllerconnection, Lubrication and Communication will be the same for both carriages.The stroke for each robot is the longest possible. The second manipulator mustbe ordered on a Specification Form for IRB 6620.Specified travel length, A, is done with option 1141-1.
NoteDescriptionOption
Double carriage1088-2
1265 1265
D
A
B
C
xx1100000042
DescriptionPos
Specified travel length, option 1141-1. (Beam length - 1800 mm)A
Axis 1 stroke, robot 2B
Axis 1 stroke, robot 1C
Overlap = Axis 1 stroke - 1265 mmD
= Specified travel length - 1265 mmAxis 1 strokeRobot 1
= Specified travel length - 1265 mmAxis 1 strokeRobot 2
Note
There is no hardware limitation preventing carriage collision. This must bearranged by software programming or using the EPS functionality.
Note
The controller connection will be located on the middle leg at odd numbers oflegs. At even number of legs must one of the two middle legs be selected.
Continues on next pageProduct specification - Linear Axis 373HAC036094-001 Revision: N
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2 Specification of variants and options2.2 IRB 6620LX-150/1.9
Continued
Travel lengthThe linear axis is divided in sections, depending on the required travel length. Maxdelivered beam length sections are 12 meter.Max 33000 mm travel length with 7 m floor cable.Max 24600 mm travel length with 15 m floor cable.
NoteDescriptionOption
Chose travel length in millimeter. Travel length insteps of 400 mm/step.
(1800 - 33000) Travellength
1141-1
xx1000000071
DescriptionPos
Travel length aA
a. Actual travel length 20 mm shorter than specified.
Number of upper legsMinimum number of recommended upper legs are two. Max distance between twolegs is 12000 mm, but recommended distance is 8000 mm, to avoid risk of lowerperformance. Min distance between two legs is 1500 mm.
NoteDescriptionOption
See figure below.(2-7) Chose quantity1142-1
Mounting platesPlates located on the beam to be used for mounting of customer developed legs.For hole configuration of mounting plates see Mounting plates on page 25
NoteDescriptionOption
Only selectable when no upper legs are selected[1142-1].
(2-7) Chose quantity1164-1
Number of lower legs
NoteDescriptionOption
See figure below(1-7) Select quantity1143-1
Continues on next page38 Product specification - Linear Axis
3HAC036094-001 Revision: N© Copyright 2009-2017 ABB. All rights reserved.
2 Specification of variants and options2.2 IRB 6620LX-150/1.9Continued
xx1000000060
DescriptionPos
Upper legsA
Lower legsB
If no lower legs are required, do not select this option. In this case will themanipulator connection be delivered with a free cable with connection point,reaching to one of the outer upper legs.
Leg height
NoteDescriptionOption
Chose leg height in millimeter.Leg height in steps of100mm/step.A=sidemounting B=invertedmounting
(2500-4000) Leg height1144-1
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2 Specification of variants and options2.2 IRB 6620LX-150/1.9
Continued
BA
xx1000000074
DescriptionPos
Distance from floor to surface for base of robot (2500 to 4000 mm)A
Distance from floor to centre of robot base (2500 to 4000 mm)B
Note
The height for the linear axis is specified differently depending on manipulatormounting position.
40 Product specification - Linear Axis3HAC036094-001 Revision: N
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2 Specification of variants and options2.2 IRB 6620LX-150/1.9Continued
2.3 Leg distances
Leg distance 0-1
NoteDescriptionOption
Distance to first leg or mounting plate, min. 550mm and max 2750 mm from start of beam. Seefigure below.
(550-2750) Chose length1146-1
xx1000000072
DescriptionPos
Min 550, max 2750 mm (in steps of 100 mm).A
Note
The max and min free length of beam, is also valid at last leg at the other end ofthe unit.First leg is calculated from left, looking at the robot from the front.
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2 Specification of variants and options2.3 Leg distances
Leg distance 1-2Leg distance over 8000 mm and up to 12000 mm may affect the performance.
NoteDescriptionOption
Distance between leg (or mounting plate) 1 and2. See figure Leg distance. Example shows se-lection of five legs (one with only upper leg). .
(1500-12000) Chose length1147-1
Option 1147-1 Option 1148-1 Option 1150-1Option 1149-1
B A A A A B
C
xx1000000059
DescriptionPos
Distance between legs, 1500 to 12000 mm. Applies for all legs.A
Max distance 2750 mm and min. 550 mm.B
Max 800 mm (vary with the position of carriage)C
Other leg distancesLeg distance over 8000 mm and up to 12000 mm may affect the performance.
NoteDescriptionLeg dis-tance
Option
Distance between leg (or mounting plate) 2and 3. See figure Leg distance. Exampleshows selection of five legs (one with onlyupper leg).
(1500-12000)Chose length
2-31148-1
Distance between leg (or mounting plate) 3and 4. See figure Leg distance. Exampleshows selection of five legs (one with onlyupper leg).
(1500-12000)Chose length
3-41149-1
Distance between leg (or mounting plate) 4and 5. See figure Leg distance. Exampleshows selection of five legs (one with onlyupper leg).
(1500-12000)Chose length
4-51150-1
Distance between leg (or mounting plate) 5and 6. See figure Leg distance. Exampleshows selection of five legs (one with onlyupper leg).
(1500-12000)Chose length
5-61151-1
Distance between leg (or mounting plate) 6and 7. See figure Leg distance. Exampleshows selection of five legs (one with onlyupper leg).
(1500-12000)Chose length
6-71152-1
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2 Specification of variants and options2.3 Leg distancesContinued
Controller connectionIf option 1088-2, Double carriage, is selected the controller connection will belocated at the middle leg if odd number of legs. At even number of legs must oneof the two middle legs be selected.
NoteDescriptionOption
The connection point for floor cables will be mountedon selected upper leg (1 to 7), see Figure below.
Leg 11159-1
Leg 2-61159-2-6
Leg 71159-7
xx1000000073
DescriptionPos
Connection point for controller floor cables.A
Cables from cable chain on linear axis 1.B
First leg is calculated from the left when looking at the robot from the front.
Leveling and anchorsSee chapter Securing the frame support for detailed information.
NoteDescriptionOption
To be used for concrete floor with a concrete depthof > 220 mm. See Securing the frame support onpage 26.
(1-7) Chose quantityAn-chor plates > 220
1160-1
To be used for concrete floor with a concrete depthof > 340 mm. See Securing the frame support onpage 26.
(1-7) Chose quantityAn-chor plates > 340
1161-1
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2 Specification of variants and options2.3 Leg distances
Continued
LubricationLubrication system for the linear axis 1 motion.
NoteDescriptionOption
Lubrication systempowered and controlled by externalsource. Connectors for power and control cable loc-ated at cable connection on selected upper leg.
Cable version1005-4
Lubrication system powered by battery, lubricationintervals controlled by a timer.
Battery version1005-5
Signs on manipulator
NoteDescriptionOption
ABB signs on the linear axis.ABB334-1
No signs on the linear axis.NONE334-3
CommunicationSelection of comminication must correspond to selections made in SpecificationForm for IRB 6620.
NoteDescriptionOption
DeviceNet or Profibus and Parallel communication forLinear Axis.
Parallel and BusComm.
455-4
PROFINET or EtherNet/IP and Parallel communicationfor Linear Axis.
Parallel and EtherNet455-8
44 Product specification - Linear Axis3HAC036094-001 Revision: N
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2 Specification of variants and options2.3 Leg distancesContinued
IndexPproduct standards, 15
Ssafety standards, 15
standards, 15ANSI, 16CAN, 16EN, 15EN IEC, 15EN ISO, 15
Product specification - Linear Axis 453HAC036094-001 Revision: N
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Index
ABB AB, RoboticsRobotics and MotionS-721 68 VÄSTERÅS, SwedenTelephone +46 (0) 21 344 400
ABB AS, RoboticsRobotics and MotionNordlysvegen 7, N-4340 BRYNE, NorwayBox 265, N-4349 BRYNE, NorwayTelephone: +47 22 87 2000
ABB Engineering (Shanghai) Ltd.Robotics and MotionNo. 4528 Kangxin HighwayPuDong DistrictSHANGHAI 201319, ChinaTelephone: +86 21 6105 6666
ABB Inc.Robotics and Motion1250 Brown RoadAuburn Hills, MI 48326USATelephone: +1 248 391 9000
www.abb.com/robotics
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