Product specification

Articulated robot
IRB 2400/10 IRB 2400/16 IRB 2400/L M2004

Product specification
Articulated robot
3HAC9112-1
Rev. Q IRB 2400/10 IRB 2400/16 IRB 2400/L M2004

The information in this manual is subject to change without notice and should not be construed as a commitment by ABB. ABB assumes no responsibility for any errors that may appear in this manual. Except as may be expressly stated anywhere in this manual, nothing herein shall be construed as any kind of guarantee or warranty by ABB for losses, damages to persons or property, fitness for a specific purpose or the like. In no event shall ABB be liable for incidental or consequential damages arising from use of this manual and products described herein. This manual and parts thereof must not be reproduced or copied without ABB's written permission, and contents thereof must not be imparted to a third party nor be used for any unauthorized purpose. Contravention will be prosecuted. Additional copies of this manual may be obtained from ABB at its then current charge.

Copyright 2004 ABB All right reserved. ABB AB Robotics Products SE-721 68 Vsters Sweden

Table of Contents

Overview 1 Description

5 7

1.1 Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7

1.1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7 1.1.2 Different robot versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10

1.2 Safety/Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

1.2.1 Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14

1.3 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18

1.3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18 1.3.2 Operating requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19 1.3.3 Mounting the manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20
1.4 Load diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

1.4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23 1.4.2 Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24 1.4.3 Maximum load and moment of inertia for full axis 5 movement . . . . . . . . . . . . . . . . . . . . . .28 1.4.4 Wrist torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29
1.5 Mounting equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30

1.5.1 Robot tool flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .33

1.6 Calibration and references . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

1.6.1 Fine calibration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34 1.6.2 Absolute Accuracy calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35

1.7 Maintenance and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

1.7.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37

1.8 Robot Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

1.8.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .38 1.8.2 Performance according to ISO 9283 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42 1.8.3 Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43 1.8.4 Stopping distance/time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43 1.8.5 Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44 2 Specification of Variants and Options 45

2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

2.1.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .45 2.1.2 Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .45 2.1.3 Positioners . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .51 2.1.4 Track Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .51
2.2 Floor cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

2.2.1 Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .52 2.2.2 Positioner . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .53

2.3 Process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .54

2.3.1 DressPack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .54 2.3.2 Process equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .55 2.3.3 AW Safety options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .56 2.3.4 Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .57 3 Accessories 59

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Overview

Overview
About this Product specification

It describes the performance of the manipulator or a complete family of manipulators in terms of:
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 available

Users

It is intended for:
Product managers and Product personnel Sales and Marketing personnel Order and Customer Service personnel

Contents

Please see Table of Contents on page 3.

Revisions Revision
Revision 6

Description
- The IRB 2400/L 5-kg version cancelled - New values for Performance Acc. to ISO 9283 added - M2000 cancelled. - Option 287-5 Wash removed - Chapter Calibration and references added - Footnote added for Pose accuracy - Arc welding added in Specification of Variants and Options - Changes in chapter Standards - Directions of forces - An extended load diagram for IRB 2400/16 is added - Warranty information for Load diagrams - Maximum load and moment of inertia for full axis 5 movement - Wrist torque - 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 and Process equipment - User documentation on DVD - General update for 9.1 release - Updated/corrected Clean Room classes

Revision G Revision H Revision J Revision K Revision L Revision M Revision N

Revision P Revision Q

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Complementary Product specifications Product specification

Controller Controller Software IRC5 Robot User Documentation

Description
IRC5 with FlexPendant, 3HAC021785-001 RobotWare 5.12, 3HAC022349-001 IRC5 and M2004, 3HAC024534-001

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1.1.1 Introduction

1 Description
1.1 Structure
1.1.1 Introduction
General

IRB 2400 is a 6-axis industrial robot, designed specifically for manufacturing industries that use flexible robot-based automation. The robot has an open structure that is specially adapted for flexible use, and can communicate extensively with external systems.
Foundry Plus robots

The IRB 2400F/10 and IRB 2400F/16 have the FoundryPlus protection. The Foundry Plus option is designed for harsh environments where the robot is exposed to sprays of coolants, lubricants and metal spits that are typical for die casting applications or other similar applications. The Foundry Plus robot is painted with two-component epoxy on top of a special primer for excellent corrosion protection. To further improve the corrosion protection additional rust preventive are applied to exposed areas. The entire robot is IP67 compliant according to IEC 60529 - from base to wrist, which means that the electrical compartments are virtually sealed against liquid and solid contaminants. Among other things all sensitive parts are highly protected. Foundry Plus features:

Improved sealing to prevent damp from penetrating into cavities Additional protection of cabling and electronics Special covers protecting cavities Special connectors

The Foundry Plus robot can be cleaned with adequate washing equipment.
Clean Room robots

The clean room robots are going through a special manufacturing and painting process and are cleaned before shipment to reduce the emission of particles to a minimum. See chapter Specification of Variants and Options for options not selectable together with Clean Room.
Operating system

The robot is equipped with the IRC5 controller and robot control software, RobotWare RW. RobotWare RW supports every aspect of the robot system, such as

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1.1.1 Introduction

motion control, development and execution of application programs communication etc. See Product specification - Controller IRC5 with FlexPendant. Safety standards require a conroller to be connected to the robot. For additional functionality, the robot can be equipped with optional software for application support - for example gluing and arc welding, communication features network communication - and advanced functions such as multitasking, sensor control etc. For a complete description on optional software, see Product specification - Controller software IRC5/RobotWare Options.

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1.1.1 Introduction

Manipulator axes

Figure 1 The IRB 2400 manipulator has 6 axes.

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1.1.2 Different robot versions

1.1.2 Different robot versions

General

The IRB 2400 is available in three versions and all versions can be mounted inverted. IRB 2400/10 can also be wall mounted.
Robot type
IRB 2400/10 IRB 2400/16 IRB 2400/L

Handling capacity (kg)

10 kg

Reach (m)
1.55 m

16 kg (20 kg with some limita- 1.55 m tions, see chapter 1.4) 7 kg 1.80 m

Definition of version designation

IRB 2400 / Version.

Prefix
Version L

Description
Long arm

Manipulator weight Weight

Manipulator 380 kg

Other technical data Data Description Values

Airborne noise level The sound pressure level out- < 70 dB (A) Leq (acc. to Machinery side the working space directive 89/392 EEC)

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Power consumption

Path E1-E2-E3-E4 in the ISO Cube, maximum load.

Speed [mm/s]
Max. 1000 500 100

Power consumption [kW]

0.61 - 0.67 0.46 - 0.50 0.40 - 0.44 0.37 - 0.39

Figure 2 Path E1-E2-E3-E4 in the ISO Cube, maximum load.

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Dimensions for IRB 2400/L

Figure 3 View of the manipulator from the side, rear and above (dimensions in mm).

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Dimensions for IRB 2400/10 and IRB 2400/16

Figure 4 View of the manipulator from the side, rear and above (dimensions in mm).

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1.2.1 Standards

1.2 Safety/Standards
1.2.1 Standards
The robot conforms to the following standards:

EN-Standards
EN ISO 12100-1 EN ISO 12100-2 EN 954-1 EN 60204 EN ISO 60204-1:2006 EN ISO 10218-1:2006 EN 61000-6-2
a

Description
Safety of machinery, terminology Safety of machinery, technical specifications Safety of machinery, safety related parts of control systems Electrical equipment of industrial machines Safety of machinery - Electrical equipment of machines Robots for industrial environments - Safety requirements EMC, Generic emission EMC, Generic immunity

EN 61000-6-4 (option)

a. There is a deviation from paragraph 6.2 in that only worst case stop distances and stop times are documented.

IEC-Standards
IEC 60529

Description
Degrees of protection provided by enclosures

ISO-Standards
ISO 9409-1 ISO 9787

Description
Manipulating industrial robots, mechanical interface Manipulating industrial robots, coordinate systems and motions

Standards
ANSI/RIA R15.06/1999 (option) ANSI/UL 1740-1998 (option) CAN/CSA Z 434-03 (option)

Description
Safety Requirements for Industrial Robots and Robot Systems Safety Standard for Robots and Robotic Equipment Industrial Robots and Robot Systems - General Safety Requirements

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1.2.1 Standards

The robot complies fully with the health and safety standards specified in the EECs Machinery Directives.
Safety function
The Service Information System (SIS)

Description
The service information system gathers information about the robots usage and determines how hard the robot is used. The usage is characterized by the speed, the rotation angles and the load of every axis. With this data collection, the service interval of every individual robot of this generation can be predicted, optimized and service activities planned ahead. The collection data is available via the FlexPendant or the network link to the robot. The Process Robot Generation is designed with absolute safety in mind. It is dedicated to actively or passively avoid collisions and offers the highest level of safety to the operators and the machines as well as the surrounding and attached equipment. These features are presented in the active and passive safety system. The time the robot is in operation (brakes released) is indicated on the FlexPendant. Data can also be monitored over network, using e.g. WebWare.

The Active Safety System

General

Description
The active safety system includes those software features that maintain the accuracy of the robots path and those that actively avoid collisions which can occur if the robot leaves the programmed path accidentally or if an obstacle is put into the robots path. All robots are delivered with an active brake system that supports the robots to maintain the programmed path in General Stop (GS), Auto Stop (AS) and Superior Stop (SS). The ABS is active during all stop modes, braking the robot to a stop with the power of the servo drive system along the programmed path. After a specific time the mechanical brakes are activated ensuring a safe stop. The stopping process is in accordance with a class 1 stop. The maximum applicable torque on the most loaded axis determines the stopping distance. In case of a failure of the drive system or a power interruption, a class 0 stop turns out. Emergency Stop (ES) is a class 0 stop. All stops (GS, AS, SS and ES) are reconfigurable. While programming the robot in manual mode, the enabling device has a class 0 stop.

The Active Brake System (ABS)

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The Active Safety System

The Self Tuning Performance (STP)

Description
The Process Robot Generation is designed to run at different load configurations, many of which occur within the same program and cycle. The robots installed electrical power can thus be exploited to lift heavy loads, create a high axis force or accelerate quickly without changing the configuration of the robot. Consequently the robot can run in a power mode or a speed mode which can be measured in the respective cycle time of one and the same program but with different tool loads. This feature is based on QuickMoveTM. The respective change in cycle time can be measured by running the robot in NoMotionExecution with different loads or with simulation tools like RobotStudio.

The Electronically Stabilised Path (ESP)

The load and inertia of the tool have a significant effect on the path performance of a robot. The Process Robot Generation is equipped with a system to electronically stabilize the robots path in order to achieve the best path performance. This has an influence while accelerating and braking and consequently stabilizes the path during all motion operations with a compromise of the best cycle time. This feature is secured through TrueMoveTM.

Over-speed protection

The speed of the robot is monitored by two independent computers.

Restricting the working The movement of each axis can be restricted using software limits. space As options axes 1-2 can also be restricted by means of mechanical stops and axis 3 by an electrically switch. Collision detection (option) In case of an unexpected mechanical disturbance, such as a collision, electrode sticking, etc., the robot will detect the collision, stop on the path and slightly back off from its stop position, releasing tension in the tool.

The Passive Safety Description System

General The Process Robot Generation has a dedicated passive safety system that by hardware construction and dedicated solutions is designed to avoid collisions with surrounding equipment. It integrates the robot system into the surrounding equipment safely. The shape of the lower and upper arm system is compact, avoiding interference into the working envelope of the robot. The lower arm is shaped inward, giving more space under the upper arm to re-orientate large parts and leaving more working space while reaching over equipment in front of the robot. The rear side of the upper arm is compact, with no components projecting over the edge of the robot base even when the robot is moved into the home position. Moveable mechanical limitation of main axes (option) Axes 1-2 can be equipped with moveable mechanical stops, limiting the working range of every axis individually. The mechanical stops are designed to withstand a collision even under full load.

Compact robot arm design

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The Passive Safety Description System

Electronic Position Switches (EPS) on up to 7 axes (option) EPS offers axes position status signals, fulfilling applicable regulations for personnel safety. Five outputs can each be configured to reflect the position of a single axis or a combination of axes. For each output, the range for each included axis can be set arbitrarily.

The Internal Safety Description Concept

General The internal safety concept of the Process Robot Generation is based on a two-channel circuit that is monitored continuously. If any component fails, the electrical power supplied to the motors shuts off and the brakes engage. Malfunction of a single component, such as a sticking relay, will be detected at the next MOTOR OFF/MOTOR ON operation. MOTOR ON is then prevented and the faulty section is indicated. This complies with category 3 of EN 954-1, Safety of machinery - safety related parts of control Systems - Part 1.

Safety category 3

Selecting the operating The robot can be operated either manually or automatically. In mode manual mode, the robot can only be operated via the FlexPendant, i.e. not by any external equipment. Reduced speed In manual mode, the speed is limited to a maximum of 250 mm/s (600 inch/min.). The speed limitation applies not only to the TCP (Tool Center Point), but to all parts of the robot. It is also possible to monitor the speed of equipment mounted on the robot.

Three position enabling The enabling device on the FlexPendant must be used to move the device robot when in manual mode. The enabling device consists of a switch with three positions, meaning that all robot movements stop when either the enabling device is pushed fully in, or when it is released completely. This makes the robot safer to operate. Safe manual movement Emergency stop The robot is moved using a joystick instead of the operator having to look at the FlexPendant to find the right key. There is one emergency stop push button on the controller and another on the FlexPendant. Additional emergency stop buttons can be connected to the robots safety chain circuit. The robot has a number of electrical inputs which can be used to connect external safety equipment, such as safety gates and light curtains. This allows the robots safety functions to be activated both by peripheral equipment and by the robot itself. A delayed stop gives a smooth stop. The robot stops the same way as at a normal program stop with no deviation from the programmed path. After approx. 1 second the power supplied to the motors is shut off. Hold-to-run means that you must depress the start button in order to move the robot. When the button is released the robot will stop. The hold-to-run function makes program testing safer. Both the manipulator and control system comply with ULs (Underwriters Laboratories Inc.) tough requirements for fire safety. As an option, the robot can be equipped with a safety lamp mounted on the manipulator. This is activated when the motors are in the MOTORS ON state.

Safeguarded space stop

Delayed safeguarded space stop

Hold-to-run control

Fire safety Safety lamp (option)

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1.3.1 Introduction

1.3 Installation
1.3.1 Introduction
General

The same version of the robot can either be mounted on the floor or inverted. An end effector, max. weight 7, 10 or 16 kg including payload, can be mounted on the robots mounting flange (axis 6) depending on the robot version. See section 1.4 Load diagrams.
Other equipment

Other equipment can be mounted on the upper arm, max. weight 11 kg or 12 kg, and on the base, max. weight 35 kg. Holes for mounting extra equipment, see chapter 1.5 Mounting equipment and Figure 12 and Figure 13.
Working range

The working range of axes 1-2 can be limited by mechanical stops and axis 3 by limit switches. Electronic Position Switches can be used on all axes for position indicator of manipulator.

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1.3.2 Operating requirements

1.3.2 Operating requirements

Protection standards Robot Version/Protection Standard
Standard and Clean Room Manipulator IRB 2400F/L and C/L Manipulator Wrist Connectors IRB 2400F/10, F/16 Manipulator

Protection standard IEC60529

IP54 IP55 IP67 IP67 IP67, Steam washable

Explosive environments

The robot must not be located or operated in an explosive environment.

Ambient temperature Description
Manipulator during operation For the controller

Standard/Option
Standard Standard/Option

Temperature
+ 5C (41F) to + 45C (113F) See Product specification - Controller IRC5 with FlexPendant - 25C (-13F) to + 55C (131F) up to + 70C (158F)

Complete robot during Standard transportation and storage For short periods (not exceeding 24 hours) Standard

Relative humidity Description

Complete robot during transportation and storage Complete robot during operation

Relative humidity
Max. 95% at constant temperature Max. 95% at constant temperature

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1.3.3 Mounting the manipulator

1.3.3 Mounting the manipulator

Maximum load in relation to the base coordinate system. See Figure 6.
IRB 2400/L Endurance load in operation Max. load at emergency stop
Force xy Force z floor mounting Force z inverted mounting Torque xy Torque z 1700 N + 4100 1100 N - 4100 1100 N 3000 Nm 450 Nm 2100 N + 4100 1400 N - 4100 1400 N 3400 Nm 900 Nm

IRB 2400/10 and IRB 2400/16 Endurance load in operation Max. load at emergency stop
Force xy Force z floor mounting Force z inverted mounting Torque xy Torque z 2000 N + 4100 1400 N - 4100 1400 N 3400 Nm 550 Nm 2600 N + 4100 1900 N - 4100 1900 N 4000 Nm 900 Nm

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1.3.3 Mounting the manipulator

Figure 5 Directions of forces.

Note regarding Mxy and Fxy

The bending torque (Mxy) can occur in any direction in the XY-plane of the base coordinate system. The same applies to the transverse force (Fxy).

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1.3.3 Mounting the manipulator

Figure 6 Hole configuration (dimensions in mm).

Pos
A B C

Description
Z = center line axis 1 The same dimensions View from the bottom of the base

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1.4.1 Introduction

1.4 Load diagrams

1.4.1 Introduction
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 outside load diagram is used the following parts can be damaged due to overload:
motors gearboxes mechanical structure

In the robot system is the service routine LoadIdentify available, which allows the user to make 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 detailed information. Robots running with incorrect load data and/or with loads outside load diagram will not be covered by the robot warranty.

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1.4.2 Diagrams

1.4.2 Diagrams
IRB 2400/L

Figure 7 Maximum weight permitted for load mounting on the mounting flange at different positions (center of gravity).

Description
Z L J See the above diagram and the coordinate system in the Product specification - IRC5 with FlexPendant Distance in X -Y plane from Z - axis to the center of gravity Maximum own moment of inertia on the total handling weight = 0.012 kgm2

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1.4.2 Diagrams

IRB 2400/10

Figure 8 Maximum weight permitted for load mounting on the mounting flange at different positions (center of gravity).

Description
Z L J See the above diagram and the coordinate system in the Product specification - IRC5 with FlexPendant Distance in X -Y plane from Z - axis to the center of gravity Maximum own moment of inertia on the total handling weight = 0.040 kgm2

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1.4.2 Diagrams

IRB 2400/16

Figure 9 Maximum weight permitted for load mounting on the mounting flange at different positions (center of gravity).

Description
Z L J See the above diagram and the coordinate system in the Product specification - IRC5 with FlexPendant Distance in X -Y plane from Z - axis to the center of gravity Maximum own moment of inertia on the total handling weight = 0.060 kgm2

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1.4.2 Diagrams

IRB 2400/16 Extended load diagram

Below is an extended load diagram for IRB 2400/16, payload 20 kg.

No extra load on wrist, see Figure 14.

Figure 10 Maximum weight permitted for load mounting on the mounting flange at different positions (center of gravity).

Description
Z L J See the above diagram and the coordinate system in the Product specification - IRC5 with FlexPendant Distance in X -Y plane from Z - axis to the center of gravity Maximum own moment of inertia on the total handling weight = 0.060 kgm2

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1.4.3 Maximum load and moment of inertia for full axis 5 movement

1.4.3 Maximum load and moment of inertia for full axis 5 movement
General

Total load given as: Mass in kg, center of gravity (Z and L) in meter and moment of inertia (Jox, Joy, Joz ) in kgm2 . L= (X2 + Y2), see Figure 11.
Full movement of Axis 5 (115)
5

Axis Robot Type

5 6 IRB 2400L IRB 2400L

Maximum momemt of inertia

J5 = Mass x ((Z + 0.065)2 + L2) + max (J0x, J0y) 0.65 kgm2 J6 = Mass x L2 + J0Z 0.31 kgm2

Axis Robot Type

5 6 IRB 2400/10 IRB 2400/10

Maximum momemt of inertia

J5 = Mass x ((Z + 0.085)2 + L2) + max (J0x, J0y) 1.15 kgm2 J6 = Mass x L2 + J0Z 0.70 kgm2

Axis Robot Type

5 6 IRB 2400/16 IRB 2400/16

Maximum momemt of inertia

J5 = Mass x ((Z + 0.085)2 + L2) + max (J0x, J0y) 1.85 kgm2 J6 = Mass x L2 + J0Z 1.05 kgm2

Figure 11 Moment of inertia when full movement of axis 5.

Pos
A

Description
Center of gravity

Description

Jox, Joy, Joz

Max. moment of inertia around the X, Y and Z axes at center of gravity.

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1.4.4 Wrist torque

1.4.4 Wrist torque

The table below shows the maximum permissible torque due to payload.
.

Note! The values are for reference only, and should not be used for calculating permitted load offset (position of center of gravity) within the load diagram, since those also are limited by main axes torques as well as dynamic loads. Also arm loads will influence the permitted load diagram. For finding the absolute limits of the load diagram, please contact your local ABB organization. Max wrist torque Max wrist torque Max torque valid axis 4 and 5 axis 6 at load
12.4 Nm 20.6 Nm 33.0 Nm 5.84 Nm 9.81 Nm 15.7 Nm 7 kg 10 kg 16 kg

Robot type
IRB 2400L RB 2400/10 RB 2400/16

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1.4.4 Wrist torque

1.5 Mounting equipment

The robot is supplied with tapped holes on the upper arm and on the base for mounting extra equipment.
IRB 2400/L
300

M5 (2x) Depth 9 37 37 62 70 (2x)

A
Max. 10kg
400

D-D

D
67

M8 (2x) Depth 14 Max. 1kg

135

150

30 170

D=200

400

470

A-A
M8 (3x) R=92 Depth 16

C L

120o (3x)

38o

B-B

M8 (3x) R=77 Depth 16 120o (3x)

Max. 35 kg total

C B
D=50
150

38o

B C C-C
(A)

Figure 12 The shaded area indicates the permitted positions (center of gravity) for any extra equipment mounted in the holes (dimensions in mm).

Pos
A

Description
The rear side of the manipulator

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1.4.4 Wrist torque

IRB 2400/10 and IRB 2400/16

300

M6 (2x)

M8 (3x) Depth of thread 14

400 70 35

25

110

65
450

177

M5 (2x)

300

100 D=240 22 78 43 90 200 Max. 2kg

A-A

Max. 10kg

M8 (3x) R=92 Depth 16

38o

B-B
M8 (3x) R=77 Depth 16 120o (3x) Max. 35 kg total

C B
D=50 150

38o 120o (3x)

B C C-C
(A)

Figure 13 The shaded area indicates the permitted positions (center of gravity) for any extra equipment mounted in the holes (dimensions in mm).

Pos
A

Description
The rear side of the manipulator

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1.4.4 Wrist torque

IRB 2400/16 with payload 20 kg

100 A 70 35 A

M8 (3x) Depth of thread 14

300

65

177

100 90 (A) A-A Max. 10kg M8 (3x) R=92 Depth 16 200

38o B-B M8 (3x) R=77 Depth 16 120o (3x) B D=50 150 Max. 35 kg total C

38o 120o (3x) B C C-C (B)

Figure 14 The shaded area indicates the permitted positions (center of gravity) for any extra equipment mounted in the holes (dimensions in mm).

Pos
A B

Description
No extra load on wrist The rear side of the manipulator

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1.5.1 Robot tool flange

1.5.1 Robot tool flange

IRB 2400/L A
45
o

D=6 -0 H7 0.05 B M6 (4x)

+0.012

9 H8

D=25 -0

R=20

90o (4x)

6 A-A

Figure 15 The mechanical interface, mounting flange (dimensions in mm).

IRB 2400/10 and IRB 2400/16 A H7, depth min 8 D=6 -0 0.05 B
30
5x
o

+0.012

M6 (6x)
60 o

10 R=25 D=31,5 +0.039H8 -0

A 7 A-A
Figure 16 The mechanical interface, mounting flange (dimensions in mm).

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+0

D=50 -0.039 h8 B
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1 Description
1.6.1 Fine calibration

1.6 Calibration and references

1.6.1 Fine calibration
General

Fine calibration is made using the Calibration Pendulum, please see Operating manual - Calibration Pendulum.

Figure 17 All axes in zero position.

Calibration Calibration
Calibration of all axes Calibration of axis 1 and 2 Calibration of axis 1

Position
All axes are in zero position Axis 1 and 2 in zero position Axis 3 to 6 in any position Axis 1 in zero position Axis 2 to 6 in any position

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1.6.2 Absolute Accuracy calibration

1.6.2 Absolute Accuracy calibration

General

Requires RobotWare option Absolute Accuracy, please see Product specification Controller software IRC5 for more details.
The calibration concept

Absolute Accuracy (AbsAcc) is a calibration concept, which ensures a TCP absolute accuracy of better than 1 mm in the entire working range. Absolute accuracy compensates for:
Mechanical tolerances in the robot structure Deflection due to load

Absolute accuracy calibration is focusing on positioning accuracy in the cartesian coordinate system for the robot. It also includes load compensation for deflection caused by the tool and equipment. Tool data from robot program is used for this purpose. The positioning will be within specified performance regardless of load.
Calibration data

The user is supplied with robot calibration data (compensation parameters saved on the manipulator SMB) and a certificate that shows the performance (Birth certificate). The difference 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. If there is a difference, at first start-up, between calibration data in controller and the robot SMB, correct by copying data from SMB to controller.

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1.6.2 Absolute Accuracy calibration

Absolute Accuracy option

Absolute Accuracy option is integrated in the controller algorithms for compensation of this difference 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 the Cartesian coordinate system.

Figure 18 The Cartesian coordinate system.

Production data

Typical production data regarding calibration are:

Positioning accuracy (mm) Robot Average
IRB 2400L IRB 2400/10 IRB 2400/16 0,40 0,30

Max
0,80 0,70

% Within 1 mm
100 100

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1.7.1 Introduction

1.7 Maintenance and Troubleshooting

1.7.1 Introduction
General

The robot requires only a minimum of maintenance during operation. It has been designed to make it as easy to service as possible:
Maintenance-free AC motors are 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.

The following maintenance is required:

Changing filter for the drive system cooling every year. Changing batteries every 3rd year. Changing oil in the wrist after the first year and then every 5th year.

Maintenance

The maintenance intervals depend on the use of the robot. For detailed information on maintenance procedures, see Maintenance section in the Product Manual.

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1.8.1 Introduction

1.8 Robot Motion

1.8.1 Introduction
IRB 2400/L

The working area is the same for both floor and inverted mounting.

Type of motion
Axis 1 Rotation motion Axis 2 Arm motion Axis 3 Arm motion Axis 4 Wrist motion Axis 5 Bend motion Axis 6 Turn motion

Range of movement
+180 to -180 +110 to -100 +65 to -60 +185 to -185 +115 to -115 +400 to -400 +300 rev.a to -300 rev. Max.b

a. rev. = Revolutions b. 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 after the axis has been rotated (no need for rewinding the axis).

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1.8.1 Introduction

3421 Pos 1 Axis 4 Axis 3 1702 + + Pos 6 Axis 2 Pos 5 + + + Axis 5

521 R=

Pos 0 (A)

Axis 6 2885

Pos 2

X
Axis 1

Pos 3 Pos 4 1810

100
00 =4 R

560

R= 570

Pos 4

(B)

Figure 19 The extreme positions of the robot arm (dimensions in mm).

Pos
A B

Description
Wrist center Positions at wrist center (mm) and angle (degrees) see the following table

Positions at wrist center (mm) and Angle (degrees) for IRB 2400/L:

Position no (see Figure 19)

0 1 2 3 4 5 6

Angle Position (mm) Position (mm) (degrees) X Z Axis 2

970 404 602 1577 400 -1611 -115 1620 2298 745 -246 -403 623 1088 0 0 0 110 110 -100 -100

Angle (degrees) Axis 3

0 -60 65 -60 24.5 -60 65

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1.8.1 Introduction

IRB 2400/10 and IRB 2400/16

The working area is the same for both floor and inverted mounting. For wall mounted 10 kg version axis 1 rotation is limited to 30.

Type of motion
Axis 1 Rotation motiona Axis 2 Arm motion Axis 3 Arm motion Axis 4 Wrist motion Axis 5 Bend motion Axis 6 Turn motion

Range of movement
+180 to -180 +110 to -100 +65 to -60 +200 to -200 (Unlimited as optional) +120 to -120 +400 to -400 +250 rev.b to -250 rev. Max.c

a. +30 to -30 for wall mounted 10 kg version.

b. rev. = Revolutions c. 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 after the axis has been rotated (no need for rewinding the axis).

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1.8.1 Introduction

2900 Pos 1

Z
Axis 4

Pos 0 (A)

Axis 3 1441 + + Pos 6 Axis 2 Pos 5 +

R

+ + Axis 5
8 =44

Axis 6

2458

Pos 2

Axis 1 100 Pos 4 1550

40 R=
0

Pos 3 393

R= 57

(B) Pos 4

Figure 20 The extreme positions of the robot arm (dimensions in mm).

Pos
A B

Description
Wrist center Positions at wrist center (mm) and angle (degrees) see the following table

Positions at wrist center (mm) and Angle (degrees) for IRB 2400/10 and IRB 2400/16:

Angle Position no Position (mm) Position (mm) (degrees) (see Figure 20) X Z Axis 2
0 1 2 3 4 5 6 855 360 541 1351 400 -1350 -53 1455 2041 693 -118 -302 624 1036 0 0 0 110 110 -100 -100

Angle (degrees) Axis 3

0 -60 65 -60 18.3 -60 65

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1.8.2 Performance according to ISO 9283

1.8.2 Performance according to ISO 9283

General

At rated load and 1.6 m/s velocity on the inclined ISO test plane with all six robot axes in motion. The figures for AP, RP, AT and RT are mesured according to Figure 21.

Figure 21 Explanation of ISO values.

Pos
A B AP RP

Description
Programmed position Mean distance from programmed position

Pos
E AT

Description
Programmed path Actual path at program execution Max deviation from E Tolerance of the path at repeated program execution

Mean position at program execution D

Tolerance of posiotion B at repeated RT positioning

IRB Description
Pose repeatability, RP (mm) Pose accuracy, APa (mm) Linear path accuracy, AT (mm) Pose stabilization time, Pst (s) within 0.4 mm of the position

IRB 2400/L Values

0.07 0.04 0.78 0.14

IRB 2400/10

IRB 2400/16

0.03 0.03 0.11 0.33 0.15

0.03 0.03 0.15 0.41 0.22

Linear path repeatability, RT (mm) 0.11

a. AP according to the ISO test above, is the difference between the teached position (position manually modified in the cell) and the average position obtained during program execution.

The above values are the range of average test results from a number of robots.

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1.8.3 Velocity

1.8.3 Velocity

Axis no.
1 2 3 4 5 6

IRB 2400/L
150/s 150/s 150/s 360/s 360/s 450/s

IRB 2400/10
150/s 90/sa 150/s 90/sa 150/s 90/sa 360/s 360/s 450/s

IRB 2400/16
150/s 150/s 150/s 360/s 360/s 450/s

a. For wall mounted 10 kg version

Supervision is required to prevent overheating in applications with intensive and frequent movements.
Resolution

Approx. 0.01o on each axis.

1.8.4 Stopping distance/time

Stopping distance/time for emergency stop (category 0), program stop (category 1) and at mains power supply failure at max speed, max streched out and max load, categories according to EN 60204-1. All results are from tests on one moving axis. All stop distances are valid for floor mounted robot, without any tilting.
Category 0 Robot Type Axis
IRB 2400L 1 2 3

Category 1 A
59 26.2 26.4

Main power failure A

46.2 22.1 21.4

A
35.2 13.9 10.9

B
0.47 0.18 0.15

B
0.70 0.35 0.30

B
0.54 0.24 0.21

Category 0 Robot Type Axis

IRB 2400/10 1 2 3

Category 1 A
43.3 16.4 18.7

Main power failure A

51.4 23.7 26.8

A
39.7 13.5 16.3

B
0.52 0.18 0.22

B
0.55 0.19 0.24

B
0.60 0.25 0.29

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1.8.5 Signals

Category 0 Robot Type Axis

IRB 2400/16 1 2 3

Category 1 A
71.0 28.8 37.9

Main power failure A

56.1 23.6 32.3

A
48.4 16.8 24.9

B
0.62 0.21 0.30

B
0.88 0.36 0.44

B
0.67 0.26 0.35

Description
A B Distance in degrees Stop time (s)

1.8.5 Signals
For more information of air and signals for extra equipment to upper arm, see Application Interface in chapter 2 Specification of Variants and Options.

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2.1.1 General

2 Specification of Variants and Options

2.1 Introduction
2.1.1 General
The different variants and options for the IRB 2400 are described below. The same numbers are used here as in the Specification form. For controller options, see Product specification - Controller IRC5 with FlexPendant, and for software options, see Product specification - Controller software IRC5/RobotWare.

2.1.2 Manipulator
Variants Option
435-7 435-8 435-9

IRB Type
IRB 2400/10 IRB 2400/16 IRB 2400/L

Handling capacity (kg) / Reach (m)

10/1.55 16 (20 kg with some limitations, see chapter 1.4)/1.55 7/1.80

Manipulator color Option

209-1 209-2 209-4--192

Description
The robot is painted in color ABB Orange. The robot is painted in white color. The manipulator is painted with the chosen RAL-color.

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2.1.2 Manipulator

Protection Option
287-4 Standard 287-3 Foundry Plus

Description

The Foundry Plus option is designed for harsh environments where the robot is exposed to sprays of coolants, lubricants and metal spits that are typical for die casting applications or other similar applications. The Foundry Plus robot is painted with two-component epoxy on top of a special primer for excellent corrosion protection. To further improve the corrosion protection additional rust preventive are applied to exposed areas. The entire robot is IP67 compliant according to IEC 60529 - from base to wrist, which means that the electrical compartments are virtually sealed against liquid and solid contaminants. Among other things all sensitive parts are highly protected. Foundry Plus features:

Improved sealing to prevent damp from penetrating into cavities Additional protection of cabling and electronics Special covers protecting cavities Special connectors

The Foundry Plus robot can be cleaned with adequate washing equipment.
The robot is labeled with Foundry (IRB 2400F/L) or Foundry Plus (IRB 2400F/10 and F/16). 287-1 Clean Room The robot is labeled with Clean Room. The following options are NOT selectable together with option 287-1:

435-2 IRB 2400L 218-6 At upper arm axis 4

The robot has special paint quality and is always in white color
Mounting position Option
224-1 224-2 224-3

Description
Floor mounted Inverted Wall mounteda

a. For 10 kg version, limited axis 1 rotation to 30 and reduced speed axis 1, 2 and 3 to 90/s.

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2.1.2 Manipulator

Application interface

Air supply and signals for extra equipment to upper arm. For connection of extra equipment on the manipulator, there are cables integrated into the manipulators cabling, one FCI UT07 14 12SH44N connector and one FCI UT07 18 23SH44N connector on the rear part of the upper arm. A hose for compressed air is also integrated into the manipulator. There is an inlet (R1/4) at the base and an outlet (R1/4) on the upper arm.
Signals Power Air 23 10 1 50 V, 250 mA 250 V, 2 A Max. 8 bar, inner hose diameter 8 mm

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2.1.2 Manipulator

Option
218-8

Description
Integrated hose and cables for connection of extra equipment on the manipulator to the rear part of the upper arm.

218-6

Hose and cables for connection of extra equipment are extended to the wrist on the outside of the upper arm. Not possible on IRB 2400/L, option 435-9.

Application interface connection to Option

16-1 Cabinet
a

Description
The signals are connected to 12pole screw terminals, Phoenix MSTB 2.5/12-ST-5.08, to the the controller. Not together with option 218-3.

a. Note! In a M2004 MultiMove application additional robots have no Control Module. The screw terminals with internal cabling are then delivered separately to be mounted in the main robot Control Module or in another encapsulation, for example a PLC cabinet. Connector kit

Detached connectors, suitable to the connectors for the application interface and position switches. The kit consists of connectors, pins and sockets.

Option
431-1 239-1 426-1

Description
For the connectors on the upper arm if application interface, option 218-8 or option 218-6. For the connectors on the foot if connection to manipulator, option 16-2. For connection to position switches and connection to manipulator, option 271-2 and option position switch(es).

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2.1.2 Manipulator

Safety lamp Option

213-1

Description
A safety lamp with an orange fixed light can be mounted on the manipulator. The lamp is active in MOTORS ON mode. The safety lamp is required on a UL/UR approved robot.

Electronic Position Switches (EPS)

The mechanical position switches indicating the position of the three main axes are replaced with electronic position switches for up to 7 axes, for increased flexibility and robustness. For more detailed information see Product specification - IRC5 with FlexPendant and Application Manual EPS, art. No. 3HAC027709-001.

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2.1.2 Manipulator

Working range limit - axis 1

To increase the safety of the robot, the working range of axis 1 can be restricted.

Option
28-1

Description
Axis 1 Two extra stops for restricting the working range. The stops can be mounted within the area from 50 to 140. See Figure 22.

Figure 22 Mounting area of the stops, axis 1.

Working range limit - axis 2

To increase the safety of the robot, the working range of axis 2 can be restricted.

Option
32-1

Description
Axis 2 Stop lugs for restricting the working range. Figure 23 illustrates the mounting positions of the stops.

Figure 23 Mounting positions of the stops, axis 2.

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2.1.3 Positioners

Working range limit - axis 3

To increase the safety of the robot, the working range of axis 3 can be restricted.

Option
34-1

Description
Axis 3 Equipment for electrically restricting the working range in increments of 5

2.1.3 Positioners
General

Regarding positioners, see Product Specification 3HAC028283-001.

2.1.4 Track Motion

Track Motion type Option
1000-5 1000-6

Type
no AW for AW

Description
For IRB 1600/2400 robot, with a travel length of 1.7 m. For for example material handling robot. For IRB 1600/2400 robot, with a travel length of 1.7 m. For AW robot with Marthon-pac or Bobbin holder.

Additional travel length Option

1001-1

Description
(1-18) Add travel length

Note
Chose additional travel length in meter, above the min. length under Track Motion Type. The selection 1 adds 1m travel length, 2 adds 2m travel length and so on.......

Example of ordering a track motion RTT, with a requested travel length of 7.5 m:
Track Motion Type 1000-5 RTT with Bobbin 6 1001-1 Add travel length

In this case, option 1000-5 specify a track motion with a travel length of 1.7 m, option 1001-1 adds 6 meters to that, ending up with a total travel length of 7.7 m.

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2.2.1 Manipulator

Warranty Option
438-1 438-2 438-4 438-5 438-6 438-8

Type
Standard Warranty Standard + 12 months Standard + 18 months Standard + 24 months Standard + 6 months Stock Warranty

Description
Standard warranty is 18 months (1 1/2 years) 18 + 12 months (2 1/2 years) 18 + 18 months (3 years) 18 + 24 months (3 1/2 years) 18 + 6 months (2 years) Maximum 6 months postponed warranty starting from shipment date ABB Robotics Production unit (PRU) + Option 438-1. Warranty commences automatically after 6 months or from activation date of standard warranty. (See ABB Robotics BA Warranty Rules).

2.2 Floor cables

2.2.1 Manipulator
Manipulator cable length Option
210-2 210-3 210-4 210-5

Lengths
7m 15 m 22 m 30 m

Connection of Parallel communication Option

94-1 94-2 94-3 94-4

Lengths
7m 15 m 22 m 30 m

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2.2.2 Positioner

2.2.2 Positioner
Positioner cable 1 Option
1067-1 1067-2 1067-3

Lengths
7m 10 m (Standard length) 15 m

Positioner cable 2 Option

1068-1 1068-2 1068-3

Lengths
7m 10 m (Standard length) 15 m

Positioner cable type Option

1048-1

Type
Flexible

Description
Only available with one or two MTC 250/500/750/ 2000/5000

Weld return cable Option

1056-1 1056-2 1056-3 1056-4 1056-5 1056-6

Lengths
7m 7mx2 10 m 10 m x 2 15 m 15 m x 2

Return cable Option

1057-1

Type
OKC T-connection

Description
Choose quantity, 1-2

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2.3.1 DressPack

2.3 Process
2.3.1 DressPack
Welding torch package Option
878-2 878-3

Description
Self cooled torch, iSTM-ABIROB A 22 degrees Water cooled torch, iSTM-ABIROB W 22 degrees

Process module Option

768-1 768-2 768-5

Type
Empty cabinet small

Description
See Product Specification - Controller IRC5 with FlexPendant, chapter 2.2.1

Empty cabinet large See Product Specification - Controller IRC5 with FlexPendant, chapter 2.2.1 AWC / WeldGuide Only together with AristoMig 4000i/5000i, MigRob and TPS power sources.

Installation kit Option

715-1

Type
Installation kit

Description
See Product Specification - Controller IRC5 with FlexPendant, chapter 2.2.1

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2.3.2 Process equipment

2.3.2 Process equipment

Power source

Option
1029-13 1029-14

Type
AristoMig 4000i AristoMig 5000i

Description
400 V including wirefeeder Only together with option 878-2 or 878-3. 400 V including wirefeeder Only together with option 878-2 or 878-3.

Current/Hose set Option

1030-4 1030-5

Type
7.5 m 10 m

Description
For external suspension mounting, not included. Only together with option 1029-13 or 1029-14. Internal suspension mounting, hose package attatched to the robot base. Protective hose included. Only together with option 1029-13 or 1029-14.

Feed kit Option

1033-2 1033-3

Type
Marathon Pac Octagon Bobbin

Description
Liner for 250 kg Marathon Pac. Plastic hood for round Maraton-Pac included. A 15 kg bobbin holder on the robot.

Torch service Option

1037-1 1037-2 1037-5

Type
ABB TSC ABB TC96 BullsEye

Description
ABB Torch Service Center. ABB Torch cleaner. BullsEye stand alone.

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2.3.3 AW Safety options

2.3.3 AW Safety options

Working area Option
1072-1 1072-2

Type
One working area Two working areas

Description

Operator panel Option

1054-1 1054-2 1054-3

Type
Operator panel 1 area Operator panel 2 areas

Description
For one working area For two working areas.

2 x operators panel Two operator panels, one for each working area. 2 areas

AW Safety interface Option

1058-1 1058-2

Type
Safety interface Active relay

Description
SIB, requires options 735-3 and 735-4. Active relay supervision (open relay).

Lightbeam Option
1059-1

Type
Lightbeam

Description
Qty 1 or 2, one working area requires one PC of two level light beams. Two working areas rerquire two PCs of two level light beams.

Gate switch Option

1060-1 1060-2

Type
Gate switch Gate switch/ ext. reset

Description

Home position switch Option

1061-1

Type
Home position switch

Description
Home position switch for IRB 1600/2400, one working area.

56

Rev.Q

3HAC9112-1

2 Specification of Variants and Options

2.3.4 Documentation

Station indication Option

1062-1

Type
Station indication

Description
Station indication for IRB 1600/2400, two working areas.

Pre-reset unit Option

1063-1

Type
Pre-reset unit

Description
Qty 1 or 2, one working area requires one PC of Prereset. Two working areas require two PCs of Prereset.

Activation unit Option

1064-1

Type
Activation unit

Description
Qty 1 or 2, one requires one PC of Activation unit. Two working areas require two PCs of Activation unit.

Extended EM stop Option

1065-1

Type
Extended EM stop

Description
Required when using external EM-stop push buttons and when ordering a dual arc system (two welding packages).

2.3.4 Documentation
DVD User Documentation Option
808-1

Type
Documentation on DVD

Description
See Product Specification - Robot User Documentation

3HAC9112-1

Rev.Q

57

2 Specification of Variants and Options

2.3.4 Documentation

58

Rev.Q

3HAC9112-1

3 Accessories

3 Accessories
General

There is a range of tools and equipment available, specially designed for the robot.
Basic software and software options for robot and PC

For more information, see Product specification - Controller IRC5 with FlexPendant, and Product specification - Controller software IRC5/RobotWare.
Robot Peripherals
Track Motion Motor Units

3HAC9112-1

Rev.Q

59

3 Accessories

60

Rev.Q

3HAC9112-1

Index

A accessories, 59 Active Brake System, 15 active safety system, 15 air supply, 47 Application interface, 47 connection to, 48 AW Safety options, 56 Activation unit, 57 AW Safety interface, 56 Extended EM stop, 57 Gate switch, 56 Home position switch, 56 Lightbeam, 56 Operator panel, 56 Pre-reset unit, 57 Station indication, 57 Working area, 56 C calibration, 34, 35 Collision detection, 16 compact robot arm, 16 Connector kit, 48 cooling device, 10 D design, 16 Documentation, 57 E Electronically Stabilised Path, 16 emergency stop, 17 enabling device, 17 equipment mounting, 30 permitted extra load, 30 extra equipment connections, 47 F Floor cables, 52 Manipulator, 52 Manipulator, cable length, 52 Manipulator, cable length-position switches axis 1,
53

Internal Safety Concept, 17 inverted robot, 18 L limitation, 16 load, 18, 20 M maintenance, 37 manipulator colors, 45 mechanical interface, 33 motion, 38 mounting extra equipment, 30 robot, 20 mounting flange, 33 moveable, mechanical, main axes, 16 N noise level, 10 O operating requirements, 19 option Absolute Accuracy, 35 options, 45 P Passive Safety System, 16 payload, 18 performance, 42 Positioner Positioner cable 1, 53 Positioner cable 2, 53 Positioner cable type, 53 Return cable, 53 Weld return cable, 53 Positioners, 51 positioning accuracy, 36 Process, 54 Process equipment, 55 Current/Hose set, 55 Feed kit, 55 Power source, 55 Sensors, 56 Torch service, 55 Process module, 54 protection foundry, 46 standard, 46 protection standards, 19 R range of movement working space, 38 reduced speed, 17 references, 34 repeatability, 42

Manipulator, connection of Parallel communication, 52 forklift, 44 H hold-to-run control, 17 humidity, 19 I installation, 18 Installation kit, 54
3HAC9112-1

Rev.Q

61

Index

Robot Peripherals, 59 robot versions, 10 S safeguarded space stop, 17 delayed, 17 safety, 14 Safety category 3, 17 Safety lamp, 49 safety lamp, 17 Self Tuning Performance, 16 Service ABB Torch cleaner, 55 ABB Torch Service Center, 55 service, 37 Service Information System, 15 service information system, 15 signal connections, 47 space requirements, 10 standards, 14 structure, 7 suspended robot, 18 T temperature, 19 Track Motion, 51 type, 51 Track motion RTT Example of ordering, 51 Travel length additional, 51 troubleshooting, 37 V Variants, 45 variants, 45 W weight, 10 Working range limit Axis 1, 50 axis 2, 50 axis 3, 51 working space restricting, 16, 18

62

Rev.Q

3HAC9112-1

ABB AB Robotics Products S-721 68 VSTERS SWEDEN Telephone: +46 (0) 21 344000 Telefax: +46 (0) 21 132592

3HAC9112-1, Revision Q, en