abbrobotics productspecification...

ABB Robotics

Product specificationIRBT 4004/6004/7004

Trace back information:Workspace R13-2 version a3Checked in 2013-10-15Skribenta version 4.0.378

Product specificationIRBT 4004IRBT 6004IRBT 7004

Document ID: 3HEA802965-001Revision: Q

© Copyright 2006-2013 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.Additional copies of this manual may be obtained from ABB.The original language for this publication is English. Any other languages that aresupplied have been translated from English.

© Copyright 2006-2013 ABB. All rights reserved.ABB AB

Robotics ProductsSe-721 68 Västerås

Sweden

Table of contents7Overview ...........................................................................................................................................

91 Description91.1 Structure .........................................................................................................91.1.1 Introduction ............................................................................................

111.1.2 Technical data for the track motion .............................................................161.1.3 Measures of the carriage table ...................................................................191.1.4 Mounting of manipulator on track ...............................................................201.2 Standards ........................................................................................................201.2.1 Applicable safety standards ......................................................................221.3 Installation .......................................................................................................221.3.1 Introduction ............................................................................................231.3.2 Operating requirements ............................................................................251.3.3 Hole configuration ..................................................................................271.4 Motion .............................................................................................................271.4.1 Introduction ............................................................................................291.4.2 Performance ..........................................................................................301.4.3 Velocity .................................................................................................311.4.4 Positioning time ......................................................................................321.4.5 Stopping distance/time .............................................................................331.5 Maintenance and Troubleshooting ........................................................................331.5.1 Introduction ............................................................................................

352 Specification of variants and options352.1 Introduction to variants and options ......................................................................362.2 Track motion ....................................................................................................392.3 Floor cables .....................................................................................................432.4 DressPack Floor ...............................................................................................452.5 Documentation .................................................................................................

47Index

3HEA802965-001 Revision: Q 5© Copyright 2006-2013 ABB. All rights reserved.

Table of contents

This page is intentionally left blank

OverviewAbout this Product specification

It describes the performance of the track motion 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 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.

UsersIt is intended for:

• Product managers and Product personnel• Sales and Marketing personnel• Order and Customer Service personnel

ContentsPlease see Table of Contents.

References

Document IDReference

3HAC022349-001Product specification - Controller software IRC5

3HAC041344-001Product specification - Controller IRC5 with FlexPendant

3HAC024534-001Product specification - Robot user documentation

3HAC028506-001Product manual - TrackMotion Robots3HAC023082-001IRBT 4004/6004/70043HAC022033-001IRB 66003HAC022032-001IRB 76003HAC027151-001IRB 44003HAC026876-001IRB 6620

IRB 6640

Revisions

DescriptionRevision

- New product specification-

- Updates in chapter Variants and OptionsA

- Adapted for IRB 6640 and IRB 6620B

- Tip Dresser deletedC

- Warranty text addedD

Continues on next page3HEA802965-001 Revision: Q 7


Overview

DescriptionRevision

- Information about Save MoveE

- Adapted for IRB 4600F

- Option Zone division and Pos. switches removedG

- Updated Customer communication optionsH

- Text for Standards updatedJ

- Double and Mirrored carriage addedK• Table for ambient temperature adjusted• Minor corrections• Clarifying how to order a double carriage

L

• Cable length for central lubrication changed• Diameter of a hole in the stand has changed from 24 mm to 25 mm,

see Hole configuration on page 25.

M

• General updates/corrections• Several corrections and completions are added to the section for

technical data andmeasurements, regarding required space for install-ation etc., see Technical data for the track motion on page 11.

• Measurement is added to the figure Dimension in sectionHole config-uration on page 25.

N

• Added info regarding performance• Info regarding forces corrected

P

• Minor corrections/update• Dimensions for new version of cable chain added

Q

8 3HEA802965-001 Revision: Q© Copyright 2006-2013 ABB. All rights reserved.

Overview

Continued

1 Description1.1 Structure

1.1.1 Introduction

GeneralTrackMotion IRBT 4004, IRBT 6004 and IRBT 7004 expands themovement patternof the robot with a an extra degree of programmable freedom. Two more types arenow available, one mirrored track and one with double carriages.The movement on the track motion is programmed using the robot FlexPendantin the same way as the robot’s other axes.

FoundryThe version Foundry is designed for harsh environments. The connectors aredesigned for severe environments, and bearings, gears and other sensitive partsare highly protected.

Operating systemThe IRBT is equipped with the IRC5 controller and robot control software,RobotWare. RobotWare supports every aspect of the robot system, such asmotioncontrol, development and execution of application programs, communication etc.See Product specification - Controller IRC5 with FlexPendant.

SafetySafety standards valid for complete robot, manipulator and controller.

Additional functionalityFor additional functionality, the robot can be equipped with optional software forapplication support - for example gluing and welding, communication features -network communication - and advanced functions such as multitasking, sensorcontrol etc. For a complete description on optional software, see the Productspecification - Controller software IRC5

PerformanceThe IRBT track motion and its respective robot is a seven-axis dynamic model.ABB’s unique QuickMove and TrueMove can be fully exploited, which meansoptimal movement for the robot and the track motion with actual load. Furthermore,path accuracy and speed are optimized. ABB’s track motion is the first on themarket with this feature.The speed, position–to–position, which is the real benchmark of the capability ofthe track motion, has improved by more than 40% compared to earlier models.

LimitationsThe option 610-1, Independent Axis is not possible to use together with trackmotion, IRBT.



1 Description1.1.1 Introduction

Track Motion

(A)(B)

(C)

(D)

(E)

(F)

(G)

(H)

(J)

xx1000000940

DescriptionPosDescriptionPos

Cable chainFGear rackA

Cable trayGLinear guidesB

Mechanical stopHMotorC

Protecting plateJGearboxD

CarriageE



Continued

1.1.2 Technical data for the track motion

GeneralThe IRBT track motion is available in 3 different versions.

Travel length (m) iDesigned forIRBTType

Double carriageSinge carriage (standardtrack)

3.7 to 18.7 (in steps of 1 m)1.9 to 19.9 (in steps of 1 m)IRB 4400 (all versions)IRBT4004 IRB 4600 (all versions)

3.3 to 18.3 (in steps of 1 m)1.7 to 19.7 (in steps of 1 m)IRB 6650S (all versions)IRBT6004 IRB 6620

IRB 6640 (all versions)

3.3 to 18.3 (in steps of 1 m)1.7 to 19.7 (in steps of 1 m)IRB 7600 (all versions)IRBT7004i Travel length is the distance the carriage(s) can move.

Weight and required space for installation (single carriage)

When using cable chain MurrplastikThe table below shows the weight and required space for installation of a doublecarriage, when using the cable chain Murrplastik on the track motion.

Weight (kg)Sec-tions(pcs)

Joined sec-tions in trans-port

Required spacefor installation(m) ii

Travel length (m) i

IRBT 6004/7004

IRBT4004

IRBT6004/7004

IRBT 4004

1000937314.0151.71.9

12121185415.0152.72.9

14101383516.0153.73.9

16211594617.0154.74.9

18271800718.0155.75.9

20382011819.0156.76.9

224422179110.0157.77.9

2464243710211.0158.78.9

2670264311212.0159.79.9

2881285412213.01510.710.9

3089306213214.01511.711.9

3300327314215.01512.712.9

3508348115216.01513.713.9

3719369216217.01514.714.9

3927390017218.01515.715.9

4138411118219.01516.716.9

4346431919320.01517.717.9



1 Description1.1.2 Technical data for the track motion


Joined sec-tions in trans-port


Travel length (m) i

4557453020321.01518.718.9

4765473821322.01519.719.9i The travel length is illustrated in Examples of travel length on page 13.ii The measurement for the required space is valid when using the cable chain Murrplastik on the

track motion.

Weight and required space for installation (double carriage)

When using cable chain MurrplastikThe table below shows the weight and required space for installation of a doublecarriage, when using the cable chain Murrplastik on the track motion.


Joined sec-tions intransport


Travel length (m) i

IRBT6004/7004

IRBT4004

(ValueN)

IRBT 6004 andIRBT 7004

IRBT 4004

18301333618.3003.33.7

20411545719.3004.34.7

224717438110.3005.35.7

245819549111.3006.36.7

2664216010212.3007.37.7

2884237111213.3008.38.7

3090257712214.3009.39.7

3301279713215.30010.310.7

3509300314216.30011.311.7

3720321415217.30012.312.7

3928342216218.30013.313.7

4139363317219.30014.314.7

4347384118220.30015.315.7

4558405219321.30016.316.7

4766426020322.30017.317.7

4977447121323.30018.318.7i The travel length is illustrated in Examples of travel length on page 13.ii The measurement for the required space is valid when using the cable chain Murrplastik on the

track motion.

Weight of pedestal

IRBT 6004/ IRBT 7004IRBT 4004Robot pedestal

230 kg212 kgHeight: 250 mm

326 kg271 kgHeight: 500 mm i

i Only available for IRBT 4004 and 6006.

Continues on next page12 3HEA802965-001 Revision: Q



Continued

Examples of travel length

Single carriageBelow is an example of travel length for a 4 m stand with single carriage.

A B

xx1000001257

DescriptionPos

IRBT 4004 L=640 mmAIRBT 6004/7004 L=840 mm

IRBT 4004 Travel length= 2.9 mBIRBT 6004/7004 Travel length=2.7 m

Double carriageBelow is an example of travel length for a 6 m stand with double carriage.

xx1000001426

DescriptionPos

IRBT 4004 L= 650 mmAIRBT 6004/7004 L= 460.5 mm

IRBT 4004 L= 1200 mmBIRBT 6004/7004 L= 1780 mm

IRBT 4004 Travel length= 3700 mmCIRBT 6004/7004 Travel length=3300 mm




Continued

Formula for required space for installationThe required space for the different travel lengths is defined in the tableWeightand required space for installation (single carriage) on page 11. This sectionexplains how the defined space is calculated.

Required space for single carriage (standard track)

254

81

1000

1000xN 750 (a)

Ma

x 5

10

xx1000000941

Cable chain Murrplastik: max. 850 mm(a)

The required space for installing the track is determined with the following formula:Required space (mm) = 335 + (1000xN) + 750 + (a)For the number (a), see previous table.For the number N, see table below.

Number NTravel length (IRBT 4004 /IRBT 6006 and IRBT 7004)

31.9 / 1.7 m

42.9 / 2.7 m

53.9 / 3.7 m

etc.

Required space for double carriage (option 1088-2)

(a) 1000xN (a)

1000

Ma

x 5

10

Ma

x 5

10

xx1000001423

Cable chain Murrplastik: max. 1150 mm(a)

To install track motions with two carriages (double carriage) requires that the cablechain is fitted differently at the frame than when fitting it on a single carriage. Thedifferent fitting makes the cable chain stand out more on a double than on a singlecarriage.The required space for installing the track is determined with the following formula:




Continued

Required space (mm) = (2x(a)) + (1000xN)For the number (a), see previous table.The number N is equal to the number of sections for the different travel lengths,defined inWeight and required space for installation (double carriage) on page12.Example: there are 6 sections in a double carriage for travel length 3.7 m (IRBT4004). The required space, if using a cable chain from Murrplastik, is therefor:(2x(a=1150)) + (1000x6) = 8300 mm.

Dimensions

(b)

(a)

985

F

F

39

2 73

5 / 6

48

*

xx1000000942

Valid for track motions with motor type A (the motor is marked with an "A" onits side).

*

Cable chain Murrplastik: 1325 mm(a)

Cable chain Murrplastik: 1350 mm(b)

Airborne noise levelThe sound pressure level outside the working space.

LevelIR(B)T type

< 77 dB (A) / 1mIRBT 4004

< 76 dB (A) / 1mIRBT 6004

< 73 dB (A) / 1mIRBT 7004

Power consumption at max load

IR(B)TType of Movement

Within specification for respective robotISO Cube



Continued

1.1.3 Measures of the carriage table

IRBT 4004Use the hole configuration for the manipulator when designing fixures to be usedon the track. The figure below shows the dimensions in mm. Both tables on doubletrack are the same.

0

217,50

±0,1402

355

10

8,7

5

12

5

18

8,3

6

18

8,3

6

21

6,5

1

25

0

217,50

21

6,5

1

21

6,5

1

28

5

250

285

355

245

285

108,75

125

188,36

250

21

6,5

1

217,50

35

5

108,75

125

188,36

28

5

0

270

00

±2,5405

205

3,2

3,2

0,5

0,1

0,5

10

M

35

(6

x)

H8 (6x)

(12x)16

M16 (6x)

21

6,5

1

245

24

5

K

H

H

JJ

3,2

0,1

0,3

10

35 H8 (6x)

M20 (9x)

H-H

J-J

K

K-K

(A)

800 90

180

1040

xx1000000943

DescriptionPos

Drilling allowed within the marked area.A



1 Description1.1.3 Measures of the carriage table

IRBT 6004 and IRBT 7004The figure below shows the standard carriage for IRBT 6004/7004.

xx1000000944

DescriptionPos





Continued

The figure below shows the second added carriage for a double track, IRBT600/7004.

xx000001281

DescriptionPos




Continued

1.1.4 Mounting of manipulator on track

GeneralThe manipulator can be mounted in two directions, in line or 90 degrees, seeFigures below. Other mounting positions not allowed.

xx1000000965

xx1000000964

Below figures shows the mounting on double carriage, option 1088-2.

xx000001283

xx000001284


1 Description1.1.4 Mounting of manipulator on track

1.2 Standards

1.2.1 Applicable safety standards

Standards, EN ISOThe manipulator system is designed in accordance with the requirements of:

DescriptionStandard

Safety of machinery - Basic concepts, general principles fordesign - Part 1: Basic terminology, methodology

EN ISO 12100 -1

Safety of machinery - Basic concepts, general principles fordesign - Part 2: Technical principles

EN ISO 12100 -2

Safety of machinery, safety related parts of control systems -Part 1: General principles for design

EN ISO 13849-1

Safety of machinery - Emergency stop - Principles for designEN ISO 13850

Robots for industrial environments - Safety requirements -Part1 Robot

EN ISO 10218-1 i

Manipulating industrial robots, coordinate systems, andmotionnomenclatures

EN ISO 9787

Manipulating industrial robots, performance criteria, and relatedtest methods

EN ISO 9283

Classification of air cleanlinessEN ISO 14644-1 ii

Ergonomics of the thermal environment - Part 1EN ISO 13732-1

EMC, Generic emissionEN IEC 61000-6-4(option 129-1)

EMC, Generic immunityEN IEC 61000-6-2

Arc welding equipment - Part 1: Welding power sourcesEN IEC 60974-1 iii

Arc welding equipment - Part 10: EMC requirementsEN IEC 60974-10 iii

Safety of machinery - Electrical equipment of machines - Part1 General requirements

EN IEC 60204-1

Degrees of protection provided by enclosures (IP code)IEC 60529i There is a deviation from paragraph 6.2 in that only worst case stop distances and stop times are

documented.ii Only robots with protection Clean Room.iii 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

Safety of machinery - Two-hand control devices - Functionalaspects - Principles for design

EN 574

Safety of machinery - General requirements for the design andconstruction of fixed and movable guards

EN 953



1 Description1.2.1 Applicable safety standards

Other standards

DescriptionStandard

Safety requirements for industrial robots and robot systemsANSI/RIA R15.06

Safety standard for robots and robotic equipmentANSI/UL 1740(option 429-1)

Industrial robots and robot Systems - General safety require-ments

CAN/CSA Z 434-03(option 429-1)


1 Description1.2.1 Applicable safety standards

Continued

1.3 Installation

1.3.1 Introduction

GeneralThe IRBT´s are intended for floor mounting. Detailed information regardingmechanical installation can be found in the Product Manual.

Maximum loadThe maximum load for the different tracks:

Permitted load/carriage iType

The weight of IRB 4400/4600 payload + pedestal + 50 kgIRBT 4004

The weight of IRB 66X0 payload + pedestal + 100 kgIRBT 6004

The weight of IRB 7600 + pedestal + 100 kgIRBT 7004i Max payload included, weight of pedestal accoriding to Technical data for the track motion on

page 11

Robot payload is specified in the Product Specification for the robot.

Installation of standard and mirrored trackBelow are an example of installed mirrored and standard IRBT 4004 track shown.The same principle is valid for IRBT 6004 and 7004.

xx000001274



1.3.2 Operating requirements

Protection standardsStandard Track Motion IP65, Foundry Track Motion IP65.

Explosive environmentsThe track motion must not be located or operated in an explosive environment.

Ambient temperature

TemperatureStandard/OptionDescription

+ 5°C i (41°F) to + 50°C (122°F)StandardTrack motion duringoperation

SeeProduct specification - Control-ler IRC5 with FlexPendant

Standard/OptionFor the controller

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 track during transportation and storage

Max. 95% at constant temperatureComplete track during operation

ForcesMaximum floor loads in relation to the base coordination system and indicated pereach stand of the section of the track, see figure below.

Max. load at Emergency stop (kN)Endurance load in operation(kN)

FzFxyFzFxyRobot

1.5 ± 9± 6.51.5 ± 5± 3IRB 4400

1.5 ± 9± 6.51.5 ± 5± 3IRB 4600

1.5 ± 10± 6.51.5 ± 6± 3IRB 4600 with pedestal

5 ± 30± 145 ±15± 7IRB 6650S

5 ± 36± 145 ±18± 7IRB 6650S with pedestal

3 ± 34± 93 ±19± 3IRB 6620

3 ± 35± 93 ±18± 3IRB 6620 with pedestal

5 ± 42± 105 ±24± 4IRB 6640

5 ± 45± 105 ±25± 4IRB 6640 with pedestal

8 ± 51± 228 ± 24± 11IRB 7600

8 ± 56± 228 ± 26± 11IRB 7600 with pedestal



1 Description1.3.2 Operating requirements

xx1000000945


1 Description1.3.2 Operating requirements

Continued

1.3.3 Hole configuration

Dimension

500xN

500

250

93

9

A A

Ø 12.8

Ø 12 E7 Ø 25

A - A

60

10

xx1000000946

The table shows the value of N in the figure above with different travel lengths.

Quantity NTotal length of the standTravel length IRBT 4004 /IRBT 6006 and IRBT 7004

53 m1.9 / 1.7 m

74 m2.9 / 2.7 m

95 m3.9 / 3.7 m

etc.



1 Description1.3.3 Hole configuration

Hole configurationThe stand’s ground plates have holes for assemble. The hole configuration on theright side (shown in figure) is different than the left side. The holes A and C areused on both sides, hole B is used fore locating pins in a fixture in themanufacturingprocess.

M16

Ø25

Ø12

40

23

A

B

C

A Holes for leveling / leveling screwB Holes for locking pin / locking pinC Holes for expansion-shell bolts with a diameter of M20 / chemical bolt

Screws for fastening manipulator to base

Recommended screws for fastening themanipulator to the base

M20 x 90 8.8 with 4 mm flat washerSteel structure

M20 iConcrete floori The type and dimension of screws depend on the foundation conditions. See description for

maximum floor loads in Operating requirements on page 23.


1 Description1.3.3 Hole configuration

Continued

1.4 Motion

1.4.1 Introduction

Type of motionThe standard track has a linear motion with a travel length between 1.7 (1.9) to19.7 (19.9) m.

xx1000000948

DescriptionPos

Travel length (TL)A

IRBT 4004; 352.5 ± 0.3BIRBT 6004 / 7004; 551 ± 0.3The distance from guide hole, 12 E7 (see Figure on previous page), tocentre of carrier table. To be used for, for example, reference point formeasuring the installation.

The double carriage track has a motion with a travel length between 3.3 (3.7) to18.3 (18.7).Below figure shows IRBT 4004 with option 1088-2 Double carriage:

xx1000001429

DesrciptionPos

Travel length (TL)A

IRBT 4004; 353 ± 0.3BThe distance from guide hole, 12 E7 (see Figure on previous page), to centreof carrier table. To be used for, for example, reference point for measuringthe installation.




Below figure shows IRBT 6004/7004 with option 1088-2 Double carriage:

xx1000001430

DesrciptionPos

Travel length (TL)A

IRBT 6004 / 7004; 169.5 ± 0.3BThe distance from guide hole, 12 E7 (see Figure on previous page), to centreof carrier table. To be used for, for example, reference point for measuringthe installation.



Continued

1.4.2 Performance

General

PerformanceIRBT 4004/6004/7004

< ± 0.08Pose repeatability, RP (mm) i

< 0.5Pose stabilization time, PSt (s)i Repeated stopping in a travel direction, at the same point.


1 Description1.4.2 Performance

1.4.3 Velocity

Maximum axis speeds

SpeedTrackMotion Type

2.0 m/sIRBT 4004

1.6 m/sIRBT 6004

1.2 m/sIRBT 7004


1 Description1.4.3 Velocity

1.4.4 Positioning time

Positioning time at different travel distanceTypical positioning times, with manipulator + nominal load.

Travel length

5m4m3m2m1mTrackMotion Type

< 3.3 s< 2.8 s< 2.3 s< 1.8 s< 1.3 sIRBT 4004/IRB 4400

< 3.2 s< 2.6 s< 2.2 s< 1.7 s< 1.2 sIRBT 4004/IRB 4600

< 4.1 s< 3.4 s< 2.8 s< 2.2 s< 1.6 sIRBT 6004/IRB 6650S

< 3.2 s< 2.7 s< 2.2 s< 1.7 s< 1.3 sIRBT 6004/IRB 6620

< 3.9 s< 3.3 s< 2.6 s< 2.0 s< 1.4 sIRBT 6004/IRB 6640

< 5.0 s< 4.2 s< 3.4 s< 2.5 s< 1.7 sIRBT 7004/IRB 7600


1 Description1.4.4 Positioning time

1.4.5 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.

Category 1Category 0

Stop time (s)Distance(mm)

Stop time (s)Distance(mm)

TrackMotion Type

0.66000.55550IRBT 4004/IRB 4400

0.394000.37370IRBT 4004/IRB 4600

0.756000.65500IRBT 6004/IRB 6600

0.66000,55550IRBT 6004/IRB 6620

0.66000.5500IRBT 6004/IRB 6640

0.85000.7450IRBT 7004


1 Description1.4.5 Stopping distance/time

1.5 Maintenance and Troubleshooting

1.5.1 Introduction

GeneralThe Track Motion requires only minimum maintenance during operation. It hasbeen designed 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 track motion. For detailedinformation on maintenance procedures, see Maintenance section in the ProductManual.



2 Specification of variants and options2.1 Introduction to variants and options

GeneralThe different variants and options for the IRBT 4004/6004/7004 are described inthe following sections. The same option numbers are used here as in thespecification form.

Related informationFor 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 Track motion

Drives needed in robot controllerBelow is a table showing the drives that are used in the robot controller togetherwith different types of track motion.

DrivesFor IRBIRBT

option 907-1, drive ADU-790-A44004004

option 907-1, drive ADU-790-A46004004

option 907-1, drive ADU-790-A6600/6620/6640/76006004/7004

Track motion type

Reach (m)IRBT TypeOption

For IRB 4400/4600, with a travel length of 1.9 m.4004 i1000-1Available travel length 1,9 to 19,9 in steps of 1 m

For IRB 6600/6620/6640, with a travel length of 1.7 m.6004 i1000-2Available travel length 1,7 to 19,7 in steps of 1 m

For IRB 7600, with a travel length of 1.7 m.70041000-3Available travel length 1,7 to 19,7 in steps of 1 m

i Selection of robot type must be made, see Valid for product.For additional travel length in steps of 1 m, see option 1001-1 below.

Additional travel length

NoteDescriptionOption

Chose additional travel length in meter, above the min.length under Track Motion Type. Additional length morethan 6 m NOT available together with ProtectionFoundry, option 1008-2.

(1-18) Add travel length1001-1

The selection 1 adds 1m travel length, 2 adds 2m travellength and so on...

Example of ordering a track motion IRBT 4004, with a requested travel length of12 m:Track Motion Type:

• 1000-1 IRBT 4004• 1001-1 Add travel length

In this case, option 1000-1 specify a track motion with a travel length of 1.9 m,option 1001-1 adds 11 meters to that, ending up with a total travel length of 12.9m.

External axis configuration


Robot mounted on the track, equipped with Robot ServoGun, as axis 8.

8 axis1002-2

See Product Specification for IRB 6600/7600, chapterServo Gun.



2 Specification of variants and options2.2 Track motion

Valid for productDue to different options for different robots must the used robot be specified.


Track motion adapted for IRB 4400.IRB 44001086-1


Track motion adapted for IRB 6650S.IRB 6650S1086-6



Type of carriage


A standard track with mirrored carriage and cable chain.Mirrored carriage i1088-1

A track with two carriages.Double carriage ii1088-2Min travel length 3.3/3.7 m, max travel length 18.3/18.7 m.Additional travel length max. 15 m for protection standardand max. 4 m for protection Foundry.Both carriages will get the same selected options.

i To be used when two tracks are installed in a opposite way, against each other, see Installation ofstandard and mirrored track on page 22. No needs for mirrored carriage option for double track asthe double track are symmetrical.

ii Two different types of manipulators can be used on a double track. In those cases a quotation isneeded. Both manipulators must have the same selection of options e.g. MH and type ofcommunication. It’s not allowed to have e.g. one Spot Welding robot and one Material Handlingrobot on a track with double carriages. This option overrides the defult value for min/max travellength specified for option 1000-X. Valid travel lengths shown above.

BA

xx1100000391

DescriptionPos

IRBT 4004= 1200 mmA

IRBT6004/7004= 1780 mm

IRBT 4004, Min 3.7 mB

IRBT6004/7004, Min 3.3 m

Warranty

DescriptionTypeOption

Standard warranty is 18months fromCustomer DeliveryDate or latest 24 months after Factory Shipment Date,whichever occurs first. Warranty terms and conditionsapply.

Standard warranty438-1




Continued


Standard warranty extended with 12 months from enddate of the standard warranty. Warranty terms and con-ditions apply. Contact Customer Service in case of otherrequirements.

Standard warranty + 12months

438-2

Standard sarranty extended with 18 months from enddate of the standard warranty. Warranty terms and con-ditions apply. Contact Customer Service in case of otherrequirements.


438-4

Standard warranty extended with 24 months from enddate of the standard warranty. Warranty terms and con-ditions apply. Contact Customer Service in case of otherrequirements.


438-5

Standard warranty extended with 6 months from enddate of the standard warranty. Warranty terms and con-ditions apply.


438-6

Standard warranty extended with 30 months from enddate of the standard warranty. Warranty terms and con-ditions apply.


438-7

Maximum 6 months postponed start of standard war-ranty, starting from factory shipment date. Note that noclaims will be accepted for warranties that occurred be-fore the end of stock warranty. Standard warranty com-mences automatically after 6 months from FactoryShipment Date or from activation date of standard war-ranty in WebConfig.

Note

Special conditions are applicable, seeRoboticsWarrantyDirectives.

Stock warranty438-8



Continued

2.3 Floor cables

TrackMotion cable - Length

TypeOption

7 m1004-1

15 m1004-2

22 m1004-3

Note

30 m floor cable not available for track motion, due to too long cables, thereforenot to be selected for robot in the Robot Specification Form.

Lubrication


Prepared for customers own lubrication system. Alltubes and so on are mounted on the track. A local lub-rication system has to be connected by the customer,according to requirements and Figure below.

Prepared for local ad-aptation

1005-1

Requirements:Max working pressure: 350 barQuantity of grease: 0.4 cm3 / hourType of grease: See Product Manual, 3HAC028506-001.Regarding type of connection see Figure below.



2 Specification of variants and options2.3 Floor cables

(A)

A A

20

1/4’’Ø4

(B)

A-A

xx1000000949

DescriptionPos

Location of connection for local lubrication systemA

Dimensions of customer connectionB

A fully automatic lubrication system, see figure below.The System is delivered with a 15 m long cable (fromcontroller to lubrication unit) and a 10m long hose (fromlubrication unit to connection point at the track).

Central system1005-2

Mandatory with protection Foundry option 1008-2.For more detailed information, see Product Manual,3HAC028506-001

Requires manual lubrication of the track with a greasegun and brush.

Standard1005-3

See Product Manual, chapter Maintenance.




Continued

xx1000000950

DescriptionPos

Control unitA

Grease containerB

Safe MoveTo indicating the position of the carriage, can Safe Move be used, option 810-2.For more detailed information see Product specification - Controller software IRC5.




Continued

Robot pedestal


To raise the robot 250 mm from the carriage tableH= 250 mm1007-2

To raise the robot 500 mm from the carriage table. Nottogether with IRBT 7004, option 1000-3

H= 500 mm1007-4

Screws, washers and guide sleeves are included.

IRB 4400/4600 IRB 6650S/6620/6640

xx1000000951

Protection

NoteTypeOption

IP65Standard1008-1

IP65.Foundry1008-2The version Foundry is designed for harsh environ-ments. The connectors are designed for severe environ-ments, and bearings and other sensitive parts are highlyprotected.Max travel length 7.7m (7.9 m)

Brake release unit


Brake release unit axis 7, for the track.Brake release unit1011-1



Continued

2.4 DressPack Floor

Media hoses

DescriptionOption

One additional hose, customer connection G ½" thread1012-1

Four additional hoses, customer connection G ½" thread1012-2

xx1000000952

DescriptionPos

Connection point of media hoses.A

Spot welding media supply


NOT together with IRBT 4004 [option 1000-1]Power cable, 35 mm21013-1 i

i Corresponds to option 791-1/-2 in the Robot Specification Form

Split box


NOT together with IRBT 4004 [option 1000-1]Split box cable1066-1 i

i Corresponds to option 797-1/-2/-3/-4 in the Robot Specification Form.



2 Specification of variants and options2.4 DressPack Floor

Customer communication


For IRBT 4004. Not together with option 1086-2, IRB4600.

CP/CS Parallel1014-1 i

For IRBT 6004, IRBT 4004 with option 1086-2 and IRBT7004

CP/CS CANBUS1014-2 i

For IRBT 6004 and IRBT 7004CP/CS ProfiBus1014-3 i

For IRBT 6004, IRBT 7004. For IRBT 4004 if option 1086-2, IRB 4600 is selected

CP/CS Parallel1014-5 i

For IRBT 4004, 6004 and 7004, CP/CS Parallel included.Not togheter with option 1086-1, IRB 4400.

CP/CS Ethernet1014-6

i Corresponds to option 94-X, 90-X, 92-X and 859-X in the Robot Specification Form.


2 Specification of variants and options2.4 DressPack Floor

Continued

2.5 Documentation

DVD User DocumentationThe user documentation describe themanipulator system in detail, including serviceand safety instructions. All documents are available on the documentation DVD.


See Product specification - Robot user documentationDocumentation onDVD808-1


2 Specification of variants and options2.5 Documentation

IndexDdocumentation, 45

Iinstructions, 45

Mmanuals, 45

Ooptions, 35

Pprotection standards, 20

Ssafety standards, 20

service instructions, 45standards

ANSI, 21CAN, 21EN, 20EN IEC, 20EN ISO, 20protection, 20safety, 20

standard warranty, 37stock warranty, 37

Uuser documentation, 45

Vvariants, 35

Wwarranty, 37


Index

Contact us

ABB ABDiscrete Automation and MotionRoboticsS-721 68 VÄSTERÅS, SwedenTelephone +46 (0) 21 344 400

ABB AS, RoboticsDiscrete Automation and MotionBox 265N-4349 BRYNE, NorwayTelephone: +47 51489000

ABB Engineering (Shanghai) Ltd.5 Lane 369, ChuangYe RoadKangQiao Town, PuDong DistrictSHANGHAI 201319, ChinaTelephone: +86 21 6105 6666

www.abb.com/robotics

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