robotics productspecification linearaxisproductspecification-controllerirc5 3hac047400-001...

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


Table of contents

This page is intentionally left blank

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


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


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.



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



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



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.



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



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



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



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.



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



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



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



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




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:



-----Mass/2Mass i /22

----Mass/2Mass/2Mass/23

---Mass/3Mass/3Mass/3Mass/34



1 Description1.3.3 Forces

Continued



--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



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



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



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



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



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



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.



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.



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.



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°.



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



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.



1 Description1.5.1 Maintenance and Troubleshooting

This page is intentionally left blank

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.



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.


Side mounted1145-1

Inverted mounted1145-2

xx1000000058

DescriptionPos

Inverted mounted manipulatorA



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.


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.




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.


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.


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


Only selectable when no upper legs are selected[1142-1].

(2-7) Chose quantity1164-1

Number of lower legs


See figure below(1-7) Select quantity1143-1



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


Chose leg height in millimeter.Leg height in steps of100mm/step.A=sidemounting B=invertedmounting

(2500-4000) Leg height1144-1




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.



2 Specification of variants and options2.2 IRB 6620LX-150/1.9Continued

2.3 Leg distances

Leg distance 0-1


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.



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.


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



3-41149-1



4-51150-1



5-61151-1



6-71152-1



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.


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.


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



2 Specification of variants and options2.3 Leg distances

Continued

LubricationLubrication system for the linear axis 1 motion.


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


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.


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



2 Specification of variants and options2.3 Leg distancesContinued

IndexPproduct standards, 15

Ssafety standards, 15

standards, 15ANSI, 16CAN, 16EN, 15EN IEC, 15EN ISO, 15



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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