IRB 4600-40-ABB机器人资料

ProductspecificationArticulatedrobotIRB4600-60/2.05IRB4600-45/2.05IRB4600-40/2.55IRB4600-20/2.50M2004©Copyright2008-2009ABB.Allrightsreserved.ProductspecificationIRB4600-60/2.05IRB4600-45/2.05IRB4600-40/2.55IRB4600-20/2.50DocumentID:3HAC032885-001Revision:E©Copyright2008-2009ABB.Allrightsreserved.TheinformationinthismanualissubjecttochangewithoutnoticeandshouldnotbeconstruedasacommitmentbyABB.ABBassumesnoresponsibilityforanyerrorsthatmayappearinthismanual.Exceptasmaybeexpresslystatedanywhereinthismanual,nothinghereinshallbeconstruedasanykindofguaranteeorwarrantybyABBforlosses,damagestopersonsorproperty,fitnessforaspecificpurposeorthelike.InnoeventshallABBbeliableforincidentalorconsequentialdamagesarisingfromuseofthismanualandproductsdescribedherein.ThismanualandpartsthereofmustnotbereproducedorcopiedwithoutABB'swrittenpermission,andcontentsthereofmustnotbeimpartedtoathirdpartynorbeusedforanyunauthorizedpurpose.Contraventionwillbeprosecuted.AdditionalcopiesofthismanualmaybeobtainedfromABBatitsthencurrentcharge.Copyright2008-2009ABBAllrightsreserved.ABBABRoboticsProducts72168VästeråsSwedenTableofContents33HAC032885-001Revision:E©Copyright2008-2009ABB.Allrightsreserved.Overview.............................................................................51Description71.1Structure..........................................................................71.1.1IntroductiontoStructure..........................................................71.1.2Differentrobotversions..........................................................91.2Safety/Standards...................................................................131.2.1Standards....................................................................131.2.2Safety.......................................................................141.3Installation........................................................................181.3.1IntroductiontoInstallation.......................................................181.3.2Operatingrequirements.........................................................191.3.3Mountingthemanipulator.......................................................201.4Calibrationandreferences...........................................................231.4.1Finecalibration................................................................231.4.2AbsoluteAccuracycalibration....................................................241.5Robotloadandloaddiagrams........................................................261.5.1IntroductiontoRobotloadandloaddiagrams........................................261.5.2Loaddiagrams................................................................271.5.3Maximumloadandmomentofinertiaforfullandlimitedaxis5(centerlinedown)movement.341.5.4Wristtorque..................................................................361.6Mountingequipment................................................................371.6.1Informationaboutmountingequipment.............................................371.7MaintenanceandTroubleshooting....................................................441.7.1IntroductiontoMaintenanceandTroubleshooting....................................441.8RobotMotion......................................................................451.8.1IntroductiontoRobotMotion.....................................................451.8.2PerformanceaccordingtoISO9283...............................................471.8.3Velocity.....................................................................481.8.4Stoppingdistance/time..........................................................491.9Customerconnections..............................................................501.9.1IntroductiontoCustomerconnections..............................................502SpecificationofVariantsandOptions512.1Introduction.......................................................................512.1.1IntroductiontoVariantsandOptions...............................................512.1.2Manipulator..................................................................522.1.3Floorcables..................................................................563Accessories573.1Introduction.......................................................................573.1.1IntroductiontoAccessories......................................................57TableofContents43HAC032885-001Revision:E©Copyright2008-2009ABB.Allrightsreserved.Overview53HAC032885-001Revision:E©Copyright2008-2009ABB.Allrightsreserved.OverviewAboutThisProductspecificationItdescribestheperformanceofthemanipulatororacompletefamilyofmanipulatorsintermsof:•Thestructureanddimensionsprints•Thefulfillmentofstandards,safetyandoperatingrequirements•Theloaddiagrams,mountingorextraequipment,themotionandtherobotreach•ThespecificationofvariantsandoptionsavailableUsersThismanualisintendedfor:•Productmanagersandpersonnel•SalesandMarketingpersonnel•OrderandCustomerServicepersonnelContentsPleaseseeTableofContents.RevisionsComplementaryProductspecificationsRevisionDescription--NewproductspecificationA-Updated/CorrectedLoaddiagramB-CorrectedworkingrangefloormountedC-GeneralupdatesandcorrectionsD-Correctedchapter.MountingsurfaceandbushingsE-FoundryPlus2ProductspecificationDescriptionControllerIRC5withFlexPendant,3HAC021785-001ControllerSoftwareIRC5Robotware5.12,3HAC022349-001RobotUserDocumentationIRC5andM2004,3HAC024534-001ProductmanualDescriptionManipulatorIRB4600,3HAC033453-001Overview3HAC032885-001Revision:E6©Copyright2008-2009ABB.Allrightsreserved.1Description1.1.1.IntroductiontoStructure73HAC032885-001Revision:E©Copyright2008-2009ABB.Allrightsreserved.1Description1.1Structure1.1.1.IntroductiontoStructureRobotfamilyTheIRB4600seriesisABBRoboticspioneerofthenewsharpgenerationwithenhancedandnewcapabilities.Thedesignhasbeenoptimizedtomakeitsuperiorforthetargetedapplications.TheIRB4600willfocusonfurtherexpansionincutting,dispensing,machining,measuring,assemblyandweldingapplications.SoftwareproductrangeWehaveaddedarangeofsoftwareproducts-allfallingundertheumbrelladesignationofActiveSafety-toprotectnotonlypersonnelintheunlikelyeventofanaccident,butalsorobottools,peripheralequipmentandtherobotitself.OperatingsystemTherobotisequippedwiththeoperatingsystemBaseWareOS.BaseWareOScontrolseveryaspectoftherobot,likemotioncontrol,developmentandexecutionofapplicationprograms,communicationetc.seeProductspecification-ControllerIRC5withFlexPendant.AdditionalfunctionalityForadditionalfunctionality,therobotcanbeequippedwithoptionalsoftwareforapplicationsupport-forexamplespotwelding,communicationfeatures-networkcommunication-andadvancedfunctionssuchasmulti-tasking,sensorcontrol,etc.Foracompletedescriptiononoptionalsoftware,seeProductspecification-ControllersoftwareIRC5.FoundryPlus2TheFoundryPlusoptionisdesignedforharshenvironmentswheretherobotisexposedtospraysofcoolants,lubricantsandmetalspitsthataretypicalfordiecastingapplicationsorothersimilarapplications.TheFoundryPlusrobotispaintedwithtwo-componentepoxyontopofaspecialprimerforexcellentcorrosionprotection.Tofurtherimprovethecorrosionprotectionadditionalrustpreventiveareappliedtoexposedareas,e.g.hasthetoolflangeaspecialpreventivecoating.TheentirerobotisIP67compliantaccordingtoIEC60529-frombasetowrist,whichmeansthattheelectricalcompartmentsarevirtuallysealedagainstliquidandsolidcontaminants.Amongotherthingsallsensitivepartsarehighlyprotected.FoundryPlusfeatures:•Improvedsealingtopreventdampfrompenetratingintocavities•Additionalprotectionofcablingandelectronics•Specialcoversprotectingcavities•SpecialconnectorsTheFoundryPlusrobotcanbecleanedwithadequatewashingequipment.Continuesonnextpage1Description1.1.1.IntroductiontoStructure3HAC032885-001Revision:E8©Copyright2008-2009ABB.Allrightsreserved.FoundryPrime2OnlyavailableforIRB4600-60/2.05variantTherobotversionFoundryPrimeisdesignedforwaterjetcleaningofcastsandmachinedparts,andsimilarveryharshenvironments.Themanipulatorcanwithstandsurroundingsolventbaseddetergent(max.pH9.0andmustcontainrustinhibitor).ThedetergentmustbeapprovedbyABB.Inaddition,themanipulatorcanwithstandindirectsprayfromjetpressure(max.600bar)and100%humidity.Themanipulatorcanworkinanenvironmentwithacleaningbathtemperature<60°C,typicallyusedinawaterjetcleaningapplicationwithmoderatespeed.Therobotisprotectedbyspecialsealingsforgearsandbearings,pressurizedmotorsandelectroniccompartment,specialdetergentresistantpolyurethanepaintingsysteminthreelayers.Nonpaintedsurfaceshasaspecialrustpreventivecoating,andmotorsaresealedwithasealingcompound.Astherobotisdesignedforveryharshenvironments,anextendedserviceandmaintenanceprogramisrequired.Fordetailedinformationofthemaintenanceprogram,seechapterMaintenanceintheProductManual.Manipulatoraxesxx0800000431PosDescriptionPosDescriptionAAxis1BAxis2CAxis3DAxis4EAxis5FAxis6-+-(A)(B)+-(C)+(D)--(E)++-(F)Continued1Description1.1.2.Differentrobotversions93HAC032885-001Revision:E©Copyright2008-2009ABB.Allrightsreserved.1.1.2.DifferentrobotversionsGeneralTheIRB4600isavailableinfourversionsandallversionscanbemountedinverted.ManipulatorweightOthertechnicaldataPowerconsumptionatmaxloadRobottypeHandlingcapacity(kg)Reach(m)IRB460060kg2.05mIRB460045kg2.05mIRB460040kg2.55mIRB460020kg2.50mRobottypeWeightIRB4600-60/2.05425kgIRB4600-45/2.05425kgIRB4600-40/2.55435kgIBB4600-20/2.50412kgDataDescriptionNoteAirbornenoiselevelThesoundpressureleveloutsidetheworkingspace<72dB(A)Leq(acc.toMachinerydirective98/37/EEC)TypeofMovementIRB4600(allvariants)-60/2.05-45/2.05-40/2.55-20/2.50ISOCubeMax.velocity1.53kW1.43kW1.62kW1.50kWRobotincalibrationposition-60/2.05-45/2.05-40/2.55-20/2.50Brakesengaged0.24kW0.24kW0.24kW0.24kWBrakesdisengaged0.66kW0.60kW0.65kW0.52kWContinuesonnextpage1Description1.1.2.Differentrobotversions3HAC032885-001Revision:E10©Copyright2008-2009ABB.Allrightsreserved.xx0800000431ContinuedContinuesonnextpage1Description1.1.2.Differentrobotversions113HAC032885-001Revision:E©Copyright2008-2009ABB.Allrightsreserved.DimensionsIRB4600-60(45)/2.05andIRB4600-40/2.55xx0800000430PosDescriptionAR400Minimumturningradiusofaxis1BR138Minimumturningradiusofaxis4VariantPos.CPos.DPos.EPos.FIRB4600-60/2.051727mm900mm1276mm960mmIRB4600-45/2.051727mm900mm1276mm960mmIRB4600-40/2.551922mm1095mm1586mm1270mmContinued1Description1.1.2.Differentrobotversions3HAC032885-001Revision:E12©Copyright2008-2009ABB.Allrightsreserved.DimensionsIRB4600-20/2.50xx0800000428PosDescriptionAR98Minimumturningradiusofaxis4BForallotherdimensionsseeFigure3CL1Description1.2.1.Standards133HAC032885-001Revision:E©Copyright2008-2009ABB.Allrightsreserved.1.2Safety/Standards1.2.1.StandardsStandardsTherobotconformstothefollowingstandards:a.Thereisadeviationfromparagraph6.2inthatonlyworstcasestopdistancesandstoptimesaredocumentedENISO12100-1Safetyofmachinery,terminologyENISO12100-2Safetyofmachinery,technicalspecificationEN954-1Safetyofmachinery,safetyrelatedpartsofcontrolSystemsEN60204ElectricalequipmentofmachinesENISO60204-1:2005Safetyofmachinery-ElectricalequipmentofmachinesENISO10218-1:2006Robotsforindustrialenvironments-SafetyrequirementsEN609074-10:2003Arcweldingequipment-part10:electromagneticcapability(EMC)requirementsEN61000-6-4:2001EMC,GenericemissionEN61000-6-2:2005EMC,GenericimmunityStandardDescriptionIEC60529DegreesofprotectionprovidedbyenclosuresStandardDescriptionISO9787Manipulatingindustrialrobots,coordinateSystemsandmotionsStandardDescriptionANSI/RIA15.06/1999SafetyRequirementsforIndustrialRobotsandRobotSystemsANSI/UL1740-1998(option)SafetyStandardforRobotsandRoboticEquipmentCAN/CSAZ434-03(option)IndustrialRobotsandRobotSystems-GeneralSafetyRequire-mentsContinuesonnextpage1Description1.2.2.Safety3HAC032885-001Revision:E14©Copyright2008-2009ABB.Allrightsreserved.1.2.2.SafetySafetyTherobotcompliesfullywiththehealthandsafetystandardsspecifiedintheEEC’sMachineryDirectives.SafetyfunctionDescriptionTheServiceInformationSystem(SIS)Theserviceinformationsystemgathersinformationabouttherobot’susageanddetermineshowhardtherobotisused.Theusageischaracterizedbythespeed,therotationanglesandtheloadofeveryaxis.Withthisdatacollection,theserviceintervalofeveryindividualrobotofthisgenerationcanbepredicted,optimizedandserviceactivitiesplannedahead.ThecollectiondataisavailableviatheFlexPendantorthenetworklinktotherobot.TheProcessRobotGenerationisdesignedwithabsolutesafetyinmind.Itisdedicatedtoactivelyorpassivelyavoidcollisionsandoffersthehighestlevelofsafetytotheoperatorsandthemachinesaswellasthesurroundingandattachedequipment.Thesefeaturesarepresentedintheactiveandpassivesafetysystem.Thetimetherobotisinoperation(brakesreleased)isindicatedontheFlexPendant.Datacanalsobemonitoredovernetwork,usingforexampleWebWare.TheActiveSafetySystemDescriptionGeneralTheactivesafetysystemincludesthosesoftwarefeaturesthatmaintaintheaccuracyoftherobot’spathandthosethatactivelyavoidcollisionswhichcanoccuriftherobotleavestheprogrammedpathaccidentallyorifanobstacleisputintotherobot’spath.TheActiveBrakeSystem(ABS)AllrobotsaredeliveredwithanactivebrakesystemthatsupportstherobotstomaintaintheprogrammedpathinGeneralStop(GS),AutoStop(AS)andSuperiorStop(SS).TheABSisactiveduringallstopmodes,brakingtherobottoastopwiththepoweroftheservodrivesystemalongtheprogrammedpath.Afteraspecifictimethemechanicalbrakesareactivatedensuringasafestop.Thestoppingprocessisinaccordancewithaclass1stop.Themaximumapplicabletorqueonthemostloadedaxisdeterminesthestoppingdistance.Incaseofafailureofthedrivesystemorapowerinterruption,aclass0stopturnsout.EmergencyStop(ES)isaclass0stop.Allstops(GS,AS,SSandES)arereconfigurable.Whileprogrammingtherobotinmanualmode,theenablingdevicehasaclass0stop.ContinuedContinuesonnextpage1Description1.2.2.Safety153HAC032885-001Revision:E©Copyright2008-2009ABB.Allrightsreserved.TheSelfTuningPerformance(STP)TheProcessRobotGenerationisdesignedtorunatdifferentloadconfigurations,manyofwhichoccurwithinthesameprogramandcycle.Therobot’sinstalledelectricalpowercanthusbeexploitedtoliftheavyloads,createahighaxisforceoracceleratequicklywithoutchangingtheconfigurationoftherobot.Consequentlytherobotcanrunina“powermode”ora“speedmode”whichcanbemeasuredintherespectivecycletimeofoneandthesameprogrambutwithdifferenttoolloads.ThisfeatureisbasedonQuickMoveTM.TherespectivechangeincycletimecanbemeasuredbyrunningtherobotinNoMotionExecutionwithdifferentloadsorwithsimulationtoolslikeRobotStudio.TheElectronicallyStabilisedPath(ESP)Theloadandinertiaofthetoolhaveasignificanteffectonthepathperformanceofarobot.TheProcessRobotGenerationisequippedwithasystemtoelectronicallystabilizetherobot’spathinordertoachievethebestpathperformance.Thishasaninfluencewhileacceleratingandbrakingandconse-quentlystabilizesthepathduringallmotionoperationswithacompromiseofthebestcycletime.ThisfeatureissecuredthroughTrueMoveTM.Over-speedprotectionThespeedoftherobotismonitoredbytwoindependentcomputers.RestrictingtheworkingspaceThemovementofeachaxiscanberestrictedusingsoftwarelimits.Asoptionstherearesafeguardedspacestopsforconnectionofpositionswitchestorestricttheworkingspacefortheaxes1-3.Axes1-3canalsoberestrictedbymeansofmechanicalstops.Collisiondetection(option)Incaseofanunexpectedmechanicaldisturbance,suchasacollision,electrodesticking,etc.,therobotwilldetectthecollision,stoponthepathandslightlybackofffromitsstopposition,releasingtensioninthetool.ThePassiveSafetySystemDescriptionGeneralTheProcessRobotGenerationhasadedicatedpassivesafetysystemthatbyhardwareconstructionanddedicatedsolutionsisdesignedtoavoidcollisionswithsurroundingequipment.Itintegratestherobotsystemintothesurroundingequipmentsafely.CompactrobotarmdesignTheshapeofthelowerandupperarmsystemiscompact,avoidinginterferenceintotheworkingenvelopeoftherobot.Thelowerarmisshapedinward,givingmorespaceundertheupperarmtore-orientatelargepartsandleavingmoreworkingspacewhilereachingoverequipmentinfrontoftherobot.Therearsideoftheupperarmiscompact,withnocomponentsprojectingovertheedgeoftherobotbaseevenwhentherobotismovedintothehomeposition.Moveablemechanicallimitationofaxis1(option)Axis1canbeequippedwithmoveablemechanicalstops,limitingtheworkingrangeoftheaxis.Themechanicalstopsaredesignedtowithstandacollisionevenunderfullload.TheActiveSafetySystemDescriptionContinuedContinuesonnextpage1Description1.2.2.Safety3HAC032885-001Revision:E16©Copyright2008-2009ABB.Allrightsreserved.ElectronicPositionSwitches(EPS)onupto7axes(option)EPSoffersaxespositionstatussignals,fulfillingapplicableregulationsforpersonnelsafety.Fiveoutputscaneachbeconfiguredtoreflectthepositionofasingleaxisoracombinationofaxes.Foreachoutput,therangeforeachincludedaxiscanbesetarbitrarily.TheInternalSafetyConceptDescriptionGeneralTheinternalsafetyconceptoftheProcessRobotGenerationisbasedonatwo-channelcircuitthatismonitoredcontinuously.Ifanycomponentfails,theelectricalpowersuppliedtothemotorsshutsoffandthebrakesengage.Safetycategory3Malfunctionofasinglecomponent,suchasastickingrelay,willbedetectedatthenextMOTOROFF/MOTORONoperation.MOTORONisthenpreventedandthefaultysectionisindicated.Thiscomplieswithcategory3ofEN954-1,Safetyofmachinery-safetyrelatedpartsofcontrolSystems-Part1.SelectingtheoperatingmodeTherobotcanbeoperatedeithermanuallyorautomatically.Inmanualmode,therobotcanonlybeoperatedviatheFlexPen-dant,thatisnotbyanyexternalequipment.ReducedspeedInmanualmode,thespeedislimitedtoamaximumof250mm/s(600inch/min.).ThespeedlimitationappliesnotonlytotheTCP(ToolCenterPoint),buttoallpartsoftherobot.Itisalsopossibletomonitorthespeedofequipmentmountedontherobot.ThreepositionenablingdeviceTheenablingdeviceontheFlexPendantmustbeusedtomovetherobotwheninmanualmode.Theenablingdeviceconsistsofaswitchwiththreepositions,meaningthatallrobotmovementsstopwheneithertheenablingdeviceispushedfullyin,orwhenitisreleasedcompletely.Thismakestherobotsafertooperate.SafemanualmovementTherobotismovedusingajoystickinsteadoftheoperatorhavingtolookattheFlexPendanttofindtherightkey.EmergencystopThereisoneemergencystoppushbuttononthecontrollerandanotherontheFlexPendant.Additionalemergencystopbuttonscanbeconnectedtotherobot’ssafetychaincircuit.SafeguardedspacestopTherobothasanumberofelectricalinputswhichcanbeusedtoconnectexternalsafetyequipment,suchassafetygatesandlightcurtains.Thisallowstherobot’ssafetyfunctionstobeactivatedbothbyperipheralequipmentandbytherobotitself.DelayedsafeguardedspacestopAdelayedstopgivesasmoothstop.Therobotstopsthesamewayasatanormalprogramstopwithnodeviationfromtheprogrammedpath.Afterapprox.1secondthepowersuppliedtothemotorsisshutoff.Hold-to-runcontrol“Hold-to-run”meansthatyoumustdepressthestartbuttoninordertomovetherobot.Whenthebuttonisreleasedtherobotwillstop.Thehold-to-runfunctionmakesprogramtestingsafer.FiresafetyBoththemanipulatorandcontrolsystemcomplywithUL’s(UnderwritersLaboratoriesInc.)toughrequirementsforfiresafety.ThePassiveSafetySystemDescriptionContinued1Description1.2.2.Safety173HAC032885-001Revision:E©Copyright2008-2009ABB.Allrightsreserved.Safetylamp(option)Asanoption,therobotcanbeequippedwithasafetylampmountedonthemanipulator.ThisisactivatedwhenthemotorsareintheMOTORSONstate.TheInternalSafetyConceptDescription1Description1.3.1.IntroductiontoInstallation3HAC032885-001Revision:E18©Copyright2008-2009ABB.Allrightsreserved.1.3Installation1.3.1.IntroductiontoInstallationGeneralAllversionsofIRB4600aredesignedforfloormounting,tilted(upto15degrees)orinvertedmounting.Dependingontherobotversion,anendeffectorwithmax.weightof20or60kgincludingpayload,canbemountedonthetoolflange(axis6).SeeLoaddiagramsonpage27.ExtraloadsExtraloads,whichareincludedintheloaddiagrams,canbemountedontheupperarm.Anextraloadof35kgcanalsobemountedontheframeofaxis1.SeeInformationaboutmountingequipmentonpage37WorkingrangelimitationsTheworkingrangeofaxis1canbelimitedbymechanicalstopsasoption.ElectronicPositionSwitchescanalsobeusedonallaxesforpositionindicationofthemanipulator.1Description1.3.2.Operatingrequirements193HAC0328