manual - irbp 750k

Product ManualPositioner

IRBP250K/ 500K/ 750KM2003

506 180-1022002-10

The information in this document is subject to change without notice and should be construed as a commitment by ABB. ABB assumes no responsibility for any errors that may appear in this document.

In no event shall ABB be liable for damages of any nature from the use of this document.

This document and parts thereof must not be reproduced or copied without ABBs written per-mission, and the contents thereof must not be imparted to a third party nor be used for any unauthorized purpose.

Copies of this document can be ordered from ABB.

ABB Automation Technology Products AB

Artikelnummer: 506 180-102

Datum: 2002-10

ABB Automation Technology Products AB

Arc Welding Products

S-695 82 Lax

Sweden

IRBP250K/500/K/750K

LIST OF CONTENTS

Page

1 Technical description .................................................................................................. 51.1 IRBP 250K/ 500K/ 750K................................................................................... 51.2 Technical data for 250K..................................................................................... 61.3 The station switching unit MIC ......................................................................... 91.4 Rotary unit ......................................................................................................... 111.5 Support collar..................................................................................................... 12

2 Options ......................................................................................................................... 132.1 Option, Robot stand ........................................................................................... 132.2 Option, Swivels.................................................................................................. 142.3 Option, extra current collector for positioner types K/L/R/D............................ 19

3 Transport and unpacking ........................................................................................... 213.1 Lifting instructions............................................................................................. 213.2 Weights .............................................................................................................. 21

4 Foundation ................................................................................................................... 234.1 Installing the floor stand .................................................................................... 23

5 Maintenance................................................................................................................. 25

6 Loading diagram ......................................................................................................... 276.1 IRBP 250K......................................................................................................... 276.2 IRBP 500K......................................................................................................... 286.3 IRBP 750K......................................................................................................... 29

7 Integration of fixtures ................................................................................................. 317.1 IRBP 250R/ 500R/ 750R/ 250K/ 500K/ 750K/ 250L/ 500L/ 750L/ 2000L/

250D/ 500D........................................................................................................ 317.2 IRBP 250 C Index /500C /500 C Index/ 1000C/ 250A/ 500A/ 750A/

250B/ 500B/ 750B ............................................................................................. 32

8 Measurement diagrams .............................................................................................. 338.1 IRBP 250K......................................................................................................... 338.2 IRBP 500K/750K............................................................................................... 39504 851-102 3

IRBP250K/500/K/750K4 504 851-102

Positioner IRBP Technical description1 Technical description

1.1 IRBP 250K/ 500K/ 750KThe positioner is designed to handle workpieces of a weight up to 250/500/750 kg including the fixture in connection with robot welding using the MIG/MAG methods. The positioner features a twin station solution where the robot welds on one side and the operator loads and unloads on the other. The modular design, few and heavy-duty moving parts as well as minimal maintenance demands make the positioner extremely service friendly. The positioner is designed with the following main sections (see Figure 1):

1 Stand

2 Rotary unit MTC

3 Station switching unit MIC

4 Support collar

Figure 1 The positioner's main sections.

On the outgoing shaft of the station switching unit MIC there is a frame on which two rotary units MTC are fitted.On the outgoing shaft of the rotary unit a faceplate is fitted. The faceplate has plain holes and guide holes for securing fixtures. On the opposite side there is a support collar used for fixture support. A screen is fitted between the two welding stations, which protects the operator from arc-eye. The rotary unit is fitted with a current collector in the form of a slip ring in order to transfer the weld current.The drive equipment for the positioner is placed in the system's equipment cabinet

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Positioner IRBP Technical description1.2 Technical data for 250K

IRBP 250 K ( 1000

IRBP 250K ( 1200)

Max. handling capacity

250 kg 250 kg

Max load difference between sides 1 and 2 (workpiece and fixture)

140 kg 120 kg

Max. continuous torque 350 Nm 350 Nm

Centre of gravity See loading diagramSee loading diagram

Max bending moment 600 Nm 600 Nm

Positioning time 90 degrees 0.8 -1.2 s 0.8 -1.2 s



Repetition accuracy with equal loads and radius 500 mm

0.1 mm 0.1 mm

Max. speed of rotation 30 rpm 30 rpm

Station switching time 3,2 - 3,9 s 3,2 - 3,9 s

Stop time with an emergency stop

< 0.5 s < 0.5 s

Max welding current, 60% duty cycle

600 Amp 600 Amp

Weight 930 -1200 kg 970 -1250 kg6

Positioner IRBP Technical description1.2.1 Technical data for 500K

IRBP 500K( 1000

IRBP 500K( 1200)

IRBP 500K( 1400)


500 kg 500 kg 500 kg


300 kg 250 kg 220 kg

Max. continuous torque

650 Nm 650 Nm 650 Nm


See loading diagram

Max bending moment

3300 Nm 3300 Nm 3300 Nm

Positioning time 90 degrees

1.2 -1.6 s 1.2 -1.6 s 1.2 -1.6 s


1.8 -2.5 s 1.8 -2.5 s 1.8 -2.5 s


3.1 -3.4 s 3.1 -3.4 s 3.1 -3.4 s

Repetition accuracy with equal loads and radii 500 mm

0.1 mm 0.1 mm 0.1 mm

Max. speed of rotation

25 rpm 25 rpm 25 rpm

Station switching time

3,3 - 4,5 s 3,3 - 4,5 s 3,3 - 4,5 s


< 0.5 s < 0.5 s < 0.5 s


600 Amp 600 Amp 600 Amp

Weight 1700 -2150 kg 1750 -2200 kg 1850 -2300 kg 7

Positioner IRBP Technical description1.2.2 Technical data for 750K

IRBP 750K( 1000

IRBP 750K( 1200)

IRBP 750K( 1400)


750 kg 750 kg 750 kg


250 kg 220 kg 200 kg

Max. continuous torque

900 Nm 900 Nm 900 Nm


See loading diagram

Max bending moment

5000 Nm 5000 Nm 5000 Nm


1.3 -1.7 s 1.3 -1.7 s 1.3 -1.7 s


1.9 -2.6 s 1.9 -2.6 s 1.9 -2.6 s


3.2 -3.5 s 3.2 -3.5 s 3.2 -3.5 s

Repetition accuracy with equal loads and radii 500 mm

0.1 mm 0.1 mm 0.1 mm

Max. speed of rotation

25 r/m 25 r/m 25 r/m

Station switching time

3,3 - 4,6 s 3,3 - 4,6 s 3,3 - 4,6 s


< 0.6 s < 0.6 s < 0.6 s


600 Amp 600 Amp 600 Amp

Weight 1700 -2150 kg 1750 -2200 kg 1850 -2300 kg8

IRBPPositioner IRBP1.3 The station switching unit MICThe station switching unit MIC is a modular unit especially developed for robot applications and is intended for indexed movement.The station switching unit for 2 stations consists of the following:

1 Gear drive

2 AC servo motor with integrated resolver and brake

3 Limit Switch

4 Limit position faceplate

5 Cable reel

Figure 2 The station switching unit MIC

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IRBP Positioner IRBP1.3.1 ComponentsA detailed description of the component parts is given below.

GearboxThe gearbox is a precision gear drive especially developed to withstand the high demands placed on robot applications, among others, rigidity and torsional strength, speed and accuracy. The gearbox is virtually free of play and never needs to be adjusted; conforming to requirements during its entire life.The gearbox is maintenance free and the lubricant is sufficient for the gearbox's entire life, equivalent to 40000 hours of operation.

AC servo motorThe AC-servo motor is a permanent magnetised 3-phase AC motor, which runs smoothly throughout the entire speed range.The rotor is equipped with high-grade permanent magnets that are not affected by the temperature.The motor is thermally protected (PTC-resistance), and has a resolver for motor feedback and position indication.The motor is equipped with a brake for locking when the station switching unit is not actuated. The brake is also activated with an emergency and operating stop. NOTE! This brake is not an operating brake. This means that with normal operations the p-box or operator's panel are to be used to stop.The motor is grounded and electrically insulated from other parts in order to prevent the weld current from being conducted through the motor's protective conductor in the event of a fault.The motor is maintenance free.

Limit switch/Limit position discThe station switching unit is equipped with two positive opening limit switches to indicate effected station switching and for monitoring the position of the station switching unit.10

IRBPPositioner IRBP1.4 Rotary unitThe rotary unit MTC is a modular unit, developed especially for robot applications when welding and is intended for positioning the workpiece.The rotary unit consists of the following parts:

1 Gearbox

2 AC motor with integrated brake and resolver

3 Current collector

4 Rotary unit faceplate

Figure 3 Rotary unit MTC.

1.4.1 ComponentsA detailed description of the component parts is given below.

GearboxThe gearbox is a precision gear drive especially developed to withstand the high demands placed on robot applications, among others, rigidity and torsional strength, speed and accuracy. The gearbox is virtually free of play and never needs to be adjusted; conforming to requirements during its entire life.The gearbox is maintenance free and the lubricant is sufficient for the gearbox's entire life, equivalent to 40000 hours of operation.

AC servo motorThe AC-servo motor is a permanent magnetised 3-phase AC motor and runs smoothly throughout the entire speed range.The rotor is equipped with high-grade permanent magnets that are marginally affected by the temperature.

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IRBP Positioner IRBPThe motor is thermally protected (PTC-resistance), and has a resolver for motor feedback and position indication.The motor is equipped with a brake for locking in a position when the rotary unit is not actuated and to provide braking with an emergency or operating stop. NOTE! This brake is not an operating brake. This means that with normal operations the p-box or operator's panel are to be used to stop.The motor is grounded and electrically insulated from other parts in order to prevent the weld current from being conducted through the motor's protective conductor in the event of a fault.The motor is maintenance free.

Current collectorThe function of the current collector is to transfer the weld current through the rotary unit. This takes place through a spring-loaded contact bar against the shaft.The contact bar needs to be lubricated after approximately 400 hours of operation. This should be done using a special grease, article number 501 869-001.

1.5 Support collarThe support collar consists of two parts:

1 Shaft with the mounting flange

2 Flange bearing with spherical bearing positionThe support collar allows axial movement during rotation.

Figure 4

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Supp

ort c

olla

r L12

IRBPOptions2 Options

2.1 Option, Robot standThe robot stand consists of the following parts:

1 Stand

2 Pedestal

3 Insulation

4 Cover plate

Figure 5 Robot stand for positioners of the types C and R

Figure 6 Robot stand for positioner of the type K

The pedestal can be placed in different hole groups on the stand. Exercise care to ensure the robot and positioner do not collide during station

switching. Recommended spacing, see the chapter Station layout.

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IRBP Options2.2 Option, SwivelsThe swivels can be combined in different configurations for different requirements.

1 Air swivel for 1 channel

2 Electrical swivel.

3 Air/water swivel for 2 channels.

4 Air swivel for 1 channel and electrical swivel.

2.2.1 Air swivel for 1 channel

Figure 7 Air swivel

The function is to transfer air between a fixed part and a moving part. Technical specification, see table below.

Technical specification for 1-channel air swivelChannels 1Dimensions 1 / 4 "Media Air, max 10 barMax. temperature media

60C

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IRBPOptions2.2.2 Electrical swivel.

Figure 8 Electrical swivel

The function is to transfer electrical signals between a fixed part and a moving part, see the table below.The electrical swivel can transfer different types of signals, e.g. 24 V DC and different data bus systems. Technical specification, see table below.

Technical specification for the electrical swivelChannels 24 *

*. Of which 1 channel is a screen.

Current Max 2 A /channelVoltage Max 48 V DC Conductor cross-section

0.15 mm AWG 26

CAN-bus Max 500 KBit/sProfibus DP Max 12 MBit/sInterbus-S Max 500 KBit/s

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IRBP Options2.2.3 Air/water swivel for 2 channels.

Figure 9 Air/water swivel

The function is to transfer air/water between a fixed part and a moving part. Technical specification, see table below.

Technical specification for 1/2 channels air/water swivel for MTC 250

Technical specification for 1/2 channels air/water swivel for MTC 500/750/2000/5000

Channels 1 or 2Dimensions 1 / 4"Media 1 Air, max 10 bar

Media 2 Coolant, max 10 barType HFC , 35 % water 65% glycolMax. temperature media

60C

Purity, media 16/13, ISO 4406

Channels 1 or 2Dimensions 1 / 2"Media 1 Air, max 10 bar

Media 2 Coolant, max 10 barType HFC , 35 % water 65% glycolMax. temperature media

60C


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IRBP

Options

2.2.4 Air swivel for 1 channel and electrical swivel.

Figure 10 Air and electrical swivel

The function is to transfer air and electrical signals between a fixed part and a moving part. Technical specification, see table below.

Technical specification for 1 channel air swivel for MTC 250

Technical specification for 1 channel air swivel for MTC 500/750/2000/5000

Technical specification for the electrical swivel

Channels 1 Dimensions 1 / 4"Media 1 Air, max 10 barMax. temperature media

60C

Channels 1Dimensions 1 / 2"Media 1 Air, max 10 barMax. temperature media

60C


Channels 24 *

*. Of which 1 channel is a screen.

Current Max 2 A /channelVoltage Max 48 V DC Conductor cross-section

0.15 mm AWG 26

CAN-bus Max 500 KBit/sProfibus DP Max 12 MBit/sInterbus-S Max 500 KBit/s

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IRBP Options2.2.5 Installation of the swivels

Positioner types A / B / C / D / K / RConnection of the signals/media takes place via connection flanges, see figure below.

1 Electrical signals are connected to a socket outlet (1). Suitable plugs are supplied for fitting on the incoming cables. Circuit diagram, see separate tab.

2 Connection of the weld negative (2). The positioner chassis is to be separated from the system ground, e.g. cable screen.

3 Connect the air (3) to the connection nipple with dimensions set out in the technical specification.

4 On the rotary unit there is a free cable/hose for connection to the fixture.

Figure 11 Terminal box for connection of the swivel

Positioner type L

Connection of signals/media, see figure below:

1 Electrical signals are connected to a socket outlet (1). Suitable plugs are supplied for fitting on the incoming cables. Circuit diagram, see separate tab.

2 Connection of the weld negative (2). The positioner chassis is to be separated from the system ground, e.g. cable screen.

3 Connect the air to the connection nipple (2) with dimensions set out in the technical specification.

4 On the rotary unit there is a free cable/hose for connection to the fixture.

Figure 12 Connection of the swivel for positioner type L

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IRBPOptions2.3 Option, extra current collector for positioner types K/L/R/DAn extra current collector can be fitted if necessary, for example, with high weld currents or with problems with the magnetic blow mechanism when welding.

1 Contact bar

2 Holder

3 Return

Figure 13 Extra current collector

2.3.1 Technical data600 Amp at 60% duty cycle.

2.3.2 Installation of the extra current collector for positioner type L

1 Connect the return cable (3) on the current collector

2 Lubricate the current collector with grease, our article number 501 869-001. Also see the chapter Maintenance.

2

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IRBP Options20

Transport and unpacking3 Transport and unpackingThe safety instructions and other instructions should be studied carefully before starting transport and unpacking. These can be found under a separate tab in the System manual.

Check that the equipment is not damaged in any way. Report any visible transport damage immediately.

3.1 Lifting instructionsThe positioner is fitted with lifting eyes in order for use when moving.Lifting of the positioner may only:

- be carried out using equipment that corresponds with applicable lifting standards.

- be carried out by authorised personnel.Do not walk under a suspended load!

3.2 WeightsWeight of the positioner, see chapter 1 Technical Data. 21

Transport and unpacking22

Positioner IRBP Foundation4 FoundationThe robot station requires a good foundation and a concrete floor with double reinforcement and with a bearing capacity of at least 1000 kg/m2 is recommended.The bolts need a cast steel plate of at least 150x150x10 mm. Other solutions, for example, cast steel sections are also possible.Note any surface unevenness, a flatness of 0.5 mm is necessary. If necessary, use shims under the foundation on the robot and positioner.

4.1 Installing the floor stand

1 Place the stand as set out in the chapter Station layout.

2 Drill holes for the foundation bolts. For dimensions, see the chapter Station layout.

3 Use level bolts to adjust the height of the station.

4 Use shims if necessary.

5 Fit the foundation bolts.

6 Remove the level bolts.

7 Tighten all bolts. 23

Positioner IRBP Foundation24

Positioner IRBPMaintenance5 MaintenanceThe welding robot station is intended for use in demanding working conditions with a minimum of maintenance. However, to minimise downtime some preventive maintenance and inspection, spread over different periods of time, is necessary (see the table below).The station should be cleaned if necessary:

Use a vacuum cleaner of cloth. Compressed air and/strong solvents can damage seals, bearings, etc.

X1 Ocular control of cables. Replace if damaged.X2 With leakage, call service personnel.X3 Check that there is good contact between the different

connections.X4 Check that no damage has been caused by sparking

during the start of welding and that the surface of the shaft is not rough.

X5 Lubricate the current collector Use special grease, our article number 501 869-001.

X6 See the Product Manual for IRB 1400/2400.

Maintenance Daily checks 400h

Every six months (1000 h)

Every year (2000 h) 5 years Notes

Cables X1

Gearbox,oil leakage

X2 Positioner

Return cables X3

Current collector

X5 X4 Positioner

Series measurement card, battery replacement

X6 Control Cabinet 25

Positioner IRBPMaintenance26

Positioner IRBPLoading diagram6 Loading diagramThe diagrams (Figure 14, Figure 16) show the maximum permitted centre of gravity displacement from the centre of rotation at different loads.For the maximum load difference between side 1 and side 2, see the technical data in the chapter Positioner.The load refers to the workpiece including the fixture. Also refer to the value for the max. continuous torque.

6.1 IRBP 250KExample: If the centre of gravity is placed 276 mm from the centre of rotation the load may not be greater than: 129 kg.

Figure 14 Limits for the position of the centre of gravity at different loads.

Avstnd i mmR

Tyngdpunkt

k418

9801

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50

100

150

200

250

300

0 50 100 150 200 250 300 350 400 450 500

Weight (kg)

R (mm)

129 kg

276 mm

MTC 25027

Positioner IRBP

Loading diagram

6.2 IRBP 500KExample: If the centre of gravity is placed 276 mm from the centre of rotation the load may not be greater than: 240 kg. The load refers to the workpiece including the fixture.Also refer to the value for the max. continuous torque..

Avstnd i mmR

Tyngdpunkt

4189

811

MTC 500

0

100

200

300

400

500

600

0 50 100 150 200 250 300 350 400 450 500

276 mm

240 kg

R (mm)

Weight (kg) 28


Positioner IRBP

Loading diagram

6.3 IRBP 750KExample: If the centre of gravity is placed 276 mm from the centre of rotation the load may not be greater than: 333kg. The load refers to the workpiece including the fixture.Also refer to the value for the max. continuous torque..

Avstnd i mmR

Tyngdpunkt

0

100

200

300

400

500

600

700

800

0 50 100 150 200 250 300 350 400 450 500 550 600 650

4189

811

276 mm

333 kg

R (mm)

Weight (kg)

MTC 75029


Positioner IRBPLoading diagram30

IRBPIntegration of fixtures7 Integration of fixtures

7.1 IRBP 250R/ 500R/ 750R/ 250K/ 500K/ 750K/ 250L/ 500L/ 750L/ 2000L/ 250D/ 500D

An attempt should be made when designing fixtures to match the centre of gravity for fixtures and workpieces with the centre of rotation. In doing so this will minimise the positioning time between positions.First calculate the position of the centre of gravity and after which the gravitational torque can be calculated. The latter must not exceed the specified value of the continuous torque.See the dimensional drawings for the positioner, faceplate and support collar for the fasteners' installation measurements. The strength grade for the bolts in the fixture should be 12.9 or the equivalent.The fixture must conform to specific tolerances to maintain trueness and parallelism in order to prevent clamping forces from occurring. See Figure 17.

Figure 17

inte

grat

ion

of fi

xtur

es.ti

f 31

IRBPIntegration of fixtures7.1.1 Assembling/dismantling the fixtures 250K/ 500K/ 750KWith fixture weights exceeding the maximum permitted load difference between side 1 and side 2 the rotary unit's frame must be locked using an external aid, for example, an overhead crane.

Figure 18 750K

7.2 IRBP 250 C Index /500C /500 C Index/ 1000C/ 250A/ 500A/ 750A/ 250B/ 500B/ 750B

The position of the centre of gravity is to be calculated when designing fixtures. After this check that the centre of gravity is within the permitted range (see the chapter Loading diagram).See the dimensional drawings for the positioner for the fasteners' installation measurements. The strength grade for the bolts in the fixture should be 12.9 or the equivalent.

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IRBP 250KMeasurement diagrams8 Measurement diagrams

8.1 IRBP 250K

Figur 19 IRBP 250K, 1000 mm

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IRBP 250KMeasurement diagrams Figur 20 IRBP 250K, 1200 mm

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IRBP 250KMeasurement diagrams Figur 21 IRBP 250K, 1000 mm, 1200 mm

IRBP 250K 1000/ 1200

A (mm) B (mm) C (mm)

1600 706 2960

2000 840 3360

2500 1006 3860

3150 1223 4510

3500 1340 4860

4000 1507 5360

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IRBP 250KMeasurement diagrams Figur 22 IRBP 250K, 1000 mm, 1200 mm

IRBP 250K 1000/ 1200


1600 706 2960

2000 840 3360

2500 1006 3860

3150 1223 4510

3500 1340 4860

4000 1507 5360

IRBP 250K D (mm) E (mm)

1000 930 601

1200 1030 664

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IRBP 250KMeasurement diagrams Figur 23

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IRBP 250KMeasurement diagrams38

IRBP 500K/750K8.2 IRBP 500K/750K

Figur 24 IRBP 500K/750K, 1000 mm

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IRBP 500K/750K

40 Figur 25 IRBP 500K/750K, 1200 mm

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IRBP 500K/750K Figur 26 IRBP 500K/750K, 1400 mm

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IRBP 500K/750K Figur 27 IRBP 500K/750K, 1000, 1200, 1400 mm

IRBP 500K/750K 1000/ 1200/ 1400


1600 816 3409

2000 950 3809

2500 1116 4309

3150 1333 4959

3500 1450 5309

4000 1616 5809

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IRBP 500K/750K Figur 28 IRBP 500K/750K, 1000, 1200, 1400 mm

IRBP 500K/750K 1000/ 1200/ 1400


1600 816 3409

2000 950 3809

2500 1116 4309

3150 1333 4959

3500 1450 5309

4000 1616 5809

IRBP 500K/750K D (mm) E (mm)

1000 1030 678

1200 1130 748

1400 1230 813

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IRBP 500K/750K Figur 29

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506 180-102

1 Technical description1.1 IRBP 250K/ 500K/ 750K1 Stand2 Rotary unit MTC3 Station switching unit MIC4 Support collarFigure 1 The positioner's main sections.

1.2 Technical data for 250K1.2.1 Technical data for 500K1.2.2 Technical data for 750K

1.3 The station switching unit MIC1 Gear drive2 AC servo motor with integrated resolver and brake3 Limit Switch4 Limit position faceplate5 Cable reelFigure 2 The station switching unit MIC

1.3.1 ComponentsGearboxAC servo motorLimit switch/Limit position disc

1.4 Rotary unit1 Gearbox2 AC motor with integrated brake and resolver3 Current collector4 Rotary unit faceplateFigure 3 Rotary unit MTC.

1.4.1 ComponentsGearboxAC servo motorCurrent collector

1.5 Support collar1 Shaft with the mounting flange2 Flange bearing with spherical bearing positionFigure 4

2 Options2.1 Option, Robot stand2.2 Option, Swivels2.2.1 Air swivel for 1 channel2.2.2 Electrical swivel.2.2.3 Air/water swivel for 2 channels.2.2.4 Air swivel for 1 channel and electrical swivel.2.2.5 Installation of the swivelsPositioner types A / B / C / D / K / RPositioner type L

2.3 Option, extra current collector for positioner types K/L/R/D2.3.1 Technical data2.3.2 Installation of the extra current collector for positioner type L

3 Transport and unpacking3.1 Lifting instructions3.2 Weights

4 Foundation4.1 Installing the floor stand1 Place the stand as set out in the chapter Station layout.2 Drill holes for the foundation bolts. For dimensions, see the chapter Station layout.3 Use level bolts to adjust the height of the station.4 Use shims if necessary.5 Fit the foundation bolts.6 Remove the level bolts.7 Tighten all bolts.

5 Maintenance6 Loading diagram6.1 IRBP 250KFigure 14 Limits for the position of the centre of gravity at different loads.

6.2 IRBP 500KFigure 15 Limits for the position of the centre of gravity at different loads.

6.3 IRBP 750KFigure 16 Limits for the position of the centre of gravity at different loads.

7 Integration of fixtures7.1 IRBP 250R/ 500R/ 750R/ 250K/ 500K/ 750K/ 250L/ 500L/ 750L/ 2000L/ 250D/ 500DFigure 17

7.1.1 Assembling/dismantling the fixtures 250K/ 500K/ 750KFigure 18 750K7.2 IRBP 250 C Index /500C /500 C Index/ 1000C/ 250A/ 500A/ 750A/ 250B/ 500B/ 750B

8 Measurement diagrams8.1 IRBP 250KFigur 19 IRBP 250K, 1000 mmFigur 20 IRBP 250K, 1200 mmFigur 21 IRBP 250K, 1000 mm, 1200 mmFigur 22 IRBP 250K, 1000 mm, 1200 mmFigur 23

8.2 IRBP 500K/750KFigur 24 IRBP 500K/750K, 1000 mmFigur 25 IRBP 500K/750K, 1200 mmFigur 26 IRBP 500K/750K, 1400 mmFigur 27 IRBP 500K/750K, 1000, 1200, 1400 mmFigur 28 IRBP 500K/750K, 1000, 1200, 1400 mmFigur 29

manual - irbp 750k

Documents

unit mic

technical data

robot stand

rotary unit

floor stand

extra current collector

positioner types klrd

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