product specification - irb 2400 ·...

Product specificationIRB 2400

Trace back information:Workspace Main version a216Checked in 2017-04-10Skribenta version 5.1.011

Product specificationIRB 2400/10IRB 2400/16

Document ID: 3HAC042195-001Revision: L

© Copyright 2004-2017 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 2004-2017 ABB. All rights reserved.ABB AB, Robotics

Robotics and MotionSe-721 68 Västerås

Sweden

Table of contents7Overview of this product specification .............................................................................................

91 Description91.1 Structure .........................................................................................................91.1.1 Introduction to structure ...........................................................................

111.1.2 Different robot versions ............................................................................131.2 Standards ........................................................................................................131.2.1 Applicable standards ...............................................................................151.3 Installation .......................................................................................................151.3.1 Introduction to installation .........................................................................161.3.2 Operating requirements ............................................................................171.3.3 Mounting the manipulator .........................................................................201.4 Calibration and references ..................................................................................201.4.1 Fine calibration .......................................................................................211.4.2 Absolute Accuracy calibration ...................................................................231.5 Load diagrams ..................................................................................................231.5.1 Introduction to load diagrams ....................................................................271.5.2 Maximum load and moment of inertia for full and limited axis 5 movement .........281.5.3 Wrist torque ...........................................................................................291.6 Mounting equipment ..........................................................................................291.6.1 Information about mounting equipment .......................................................321.7 Maintenance and troubleshooting .........................................................................331.8 Robot motion ....................................................................................................361.9 Signals ............................................................................................................

372 Specification of variants and options372.1 Introduction to variants and options ......................................................................382.2 Manipulator ......................................................................................................432.3 Positioners .......................................................................................................442.4 Track motion ....................................................................................................452.5 Floor cables .....................................................................................................452.5.1 Manipulator ............................................................................................462.5.2 Positioner ..............................................................................................472.6 Process ...........................................................................................................472.6.1 DressPack .............................................................................................482.6.2 Process equipment ..................................................................................

493 Accessories493.1 Introduction to accessories .................................................................................

51Index

Product specification - IRB 2400 53HAC042195-001 Revision: L


Table of contents

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Overview of this product specificationAbout this product specification

It describes the performance of themanipulator or a complete family of manipulatorsin terms of:

• The structure and dimensions prints• The fulfillment of standards, safety and operating requirements• The load diagrams, mounting or extra equipment, the motion and the robot

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

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.

3HAC022031-001Product manual - IRB 2400

3HAC052355-001Product specification - Robot user documentation, IRC5 with RobotWare6

Revisions

DescriptionRevision• Replaces 3HAC9112-1 (English), 3HAC10766-1 (French),

3HAC10393-1 (German), 3HAC10759-1 (Spanish), and 3HAC10780-1 (Italian)

-

• Machinery directive updated• IRB 2400L removed• General corrections/update

A

• General updates and minor correctionsB• General updates and minor correctionsC

Continues on next pageProduct specification - IRB 2400 73HAC042195-001 Revision: L


Overview of this product specification

DescriptionRevision• Minor corrections and updatesD• Text for ISO test adjustedE• Text for Foundry Plus updated.• Minor corrections/update

F

• Minor corrections/updateG• Minor corrections/updateH• Section Track motion with options 1001-1, 1000-5 and 1000-6 re-

moved from manual.J

• Unit changed from N to Nm for Torque in section "Maximum loadIRB 2400/10/16".

K

Published in release R17.1. The following updates are done in this revi-sion:

• Restriction of load diagram added.

L

8 Product specification - IRB 24003HAC042195-001 Revision: L


Overview of this product specificationContinued

1 Description1.1 Structure

1.1.1 Introduction to structure

Robot familyThe IRB 2400 is a 6-axis industrial robot, designed specifically for manufacturingindustries that use flexible robot-based automation. The robot has an open stucturethat is specially adapted for flexible use, and can communicate extensively withexternal systems.

Operating systemThe robot 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 multi-tasking, sensorcontrol, etc. For a complete description on optional software, see Productspecification - Controller software IRC5.

Foundry PlusFoundry PlusThe Foundry Plus option is designed for harsh environments where the robot isexposed to sprays of coolants, lubricants and metal spits that are typical for diecasting applications or other similar applications. Typical applications are sprayinginsertion and part extraction of die-castingmachines, handling in sand casting andgravity casting, etc.. Special care must be taken in regard to operational andmaintenance requirements for applications in foundry are as well as in otherapplications areas. Please contact ABB Robotics Sales organization if in doubtregarding specific application feasibility for the Foundry Plus robot. The FoundryPlus robot is painted with two-component epoxy on top of a primer for corrosionprotection. To further improve the corrosion protection additional rust preventiveare applied to exposed and crucial areas, e.g. has the tool flange a specialpreventive coating. Although, continuous splashing of water or other similar rustformation fluids may case rust attach on the robots unpainted areas, joints, or otherunprotected surfaces. Under these circumstances it is recommended to add rustinhibitor to the fluid or take other measures to prevent potential rust formation onthe mentioned.The entire robot is IP67 compliant according to IEC 60529 - from



1 Description1.1.1 Introduction to structure

base to wrist (except IRB 2400L, IP67 only on wrist and connectors), which meansthat the electrical compartments are sealed against water and solid contaminants.Among other things all sensitive parts are better protected than the standard offer.Selected Foundry Plus features:- Improved sealing to prevent penetration into cavities to secure IP67- Additional protection of cabling and electronics- Special covers protecting cavities- Well-proven connectors- Rust preventives on screws, washers and unpainted/machined surfaces- Extended service and maintenance programThe Foundry Plus robot can be cleaned with appropriate washing equipment.The robot is labeled with “Foundry” (IRB 2400F/L) or “Foundry Plus” (IRB 2400F/10and F/16).

Manipulator axes

(A)

(B)

(C)

(D)(E)

(F)

-

-

-

-

-

-

++

+

+

+

+

xx1100000569

DescriptionPosDescriptionPos

Axis 2BAxis 1A

Axis 4DAxis 3C

Axis 6FAxis 5E



1 Description1.1.1 Introduction to structureContinued

1.1.2 Different robot versions

GeneralThe IRB 2400 is available in two variants and they can be mounted inverted (notilting allowed around X-axis or Y-axis).

Reach (m)Handling capacity (kg)Robot type

1.5510IRB 2400/10

1.5516 (20 kg with some limita-tions, see Load diagrams onpage 23)

IRB 2400/16

Manipulator weight

WeightRobot type

380 kgIRB 2400/10(/16)

Other technical data

NoteDescriptionData

< 70 dB (A) Leq (acc. to Ma-chinery directive 2006/42/EG)

The sound pressure leveloutside the working space

Airborn noise level

Power consumption at max load

IRB 2400/10 (/16)Type of Move-ment

0.61 - 0.67 kWISO Cube Max.velocity

xx0900001012

DescriptionPos

630 mmA



1 Description1.1.2 Different robot versions

Dimensions IRB 2400/10 and IRB 2400/16

180

1065

755 85

18

0

61

57

05

13

5

15

64

723

305

100

44

43

89

R = 448

R = 347

R = 330

85

78

(16

3)

A

A

A - A

R = 98

600

CL

44

6

45

4

176 268 138251

133

306

xx1100000546



1 Description1.1.2 Different robot versionsContinued

1.2 Standards

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

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

Robots and robotic devices -- Coordinate systems and motionnomenclatures

EN ISO 9787

Manipulating industrial robots, performance criteria, and relatedtest methods

EN ISO 9283

Classification of air cleanlinessEN ISO 14644-1 i

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 ii

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

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

EN IEC 60204-1

Degrees of protection provided by enclosures (IP code)IEC 60529i 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

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

EN 574



1 Description1.2.1 Applicable standards

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

GeneralThe same version of the robot can either be mounted on the floor or inverted (notilting allowed around X-axis or Y-axis). An end effector, max. weight 10 or 16 kgincluding payload, can be mounted on the robot’s mounting flange (axis 6)depending on the robot version.See Load diagrams on page 23.

Extra loadsOther equipment can be mounted on the upper arm, max. weight 11 kg or 12 kg,and on the base, max. weight 35 kg. Holes for mounting extra equipment, seeMounting equipment on page 29.

Working range limitationsThe working range of axes 1-2 can be limited by mechanical stops and axis 3 bylimit switches. Electronic Position Switches can be used on all axes for positionindicator of manipulator.



1 Description1.3.1 Introduction to installation

1.3.2 Operating requirements

Protection standards

Protection Standard IEC60529Robot version

IP54Standard manipulator

IP67, Steam washableIRB 2400/10, /16 Foundry Plus

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

Ambient temperature

TemperatureStandard/OptionDescription

+ 5°C i (41°F) to + 45°C (113°F)StandardManipulator during operation

See Product specification - ControllerIRC5 with FlexPendant

Standard/OptionFor the controller

- 25°C (- 13°F) to + 55°C (131°F)StandardComplete robot during trans-portation and storage

up to + 70°C (158°F)StandardFor short periods (not exceed-ing 24 hours)i At low environmental temperature < 10o C is, as with any other machine, a warm-up phase is

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 robot during operation, transportation andstorage



1 Description1.3.2 Operating requirements

1.3.3 Mounting the manipulator

Maximum load IRB 2400/10/16Maximum load in relation to the base coordinate systemFloor Mounted

Max. load (emergency stop)Endurance load (in operation)Force

±2600 N±2000 NForce xy

+4100 ±1900 N+4100 ±1400 NForce z

±4000 Nm±3400 NmTorque xy

±900 Nm±550 NmTorque z

Suspended

Max. load (emergency stop)Endurance load (in operation)Force

±2600 N±2000 NForce xy

-4100 ±1900 N-4100 ±1400 NForce z

±4000 Nm±3400 NmTorque xy

±900 Nm±550 NmTorque z



1 Description1.3.3 Mounting the manipulator

A

D

C

B

xx1100000547

Torquexy (Txy)A

Force z (Fz)B

Force xy (Fxy)C

Torque z (Tz)D

Note regarding Mxy and FxyThe bending torque (Mxy) can occur in any direction in the XY-plane of the basecoordinate system. The same applies to the transverse force (Fxy).

Continues on next page18 Product specification - IRB 2400

3HAC042195-001 Revision: L© Copyright 2004-2017 ABB. All rights reserved.

1 Description1.3.3 Mounting the manipulatorContinued

Fastening holes robot base

21

02

80

B

A

A

260 260

(A)

Z

B

(B)

(C)

X

Y

48

Ø 0.5D = 18.5

B - B

D = 18.5 (2x)

48

20

Ø 0.25 D = 35 H8 (2x)+0.039

-0

A - A

xx1400002065



1 Description1.3.3 Mounting the manipulator

Continued

1.4 Calibration and references

1.4.1 Fine calibration

GeneralFine calibration is made using the Calibration Pendulum, see Operatingmanual - Calibration Pendulum.

(A)

(B)

(C)(D)(E)

(F)

xx1100000570


Axis 2BAxis 1A

Axis 4DAxis 3C

Axis 6FAxis 5E

Calibration

PositionCalibration

All axes are in zero positionCalibration of all axes

Axis 1 and 2 in zero positionCalibration of axis 1 and 2

Axis 3 to 6 in any position

Axis 1 in zero positionCalibration of axis 1

Axis 2 to 6 in any position



1 Description1.4.1 Fine calibration

1.4.2 Absolute Accuracy calibration

GeneralRequires RobotWare option Absolute Accuracy, see Productspecification - Controller software IRC5 for more details.

The calibration conceptAbsolute Accuracy (AbsAcc) is a calibration concept, which ensures a TCP absoluteaccuracy of better than ±1 mm in the entire working range.Absolute accuracy compensates for:

• Mechanical tolerances in the robot structure• Deflection due to load

Absolute accuracy calibration is focusing on positioning accuracy in the cartesiancoordinate system for the robot. It also includes load compensation for deflectioncaused by the tool and equipment. Tool data from robot program is used for thispurpose. The positioning will be within specified performance regardless of load.

Calibration dataThe user is supplied with robot calibration data (compensation parameter file,absacc.cfg) and a certificate that shows the performance (Birth certificate). Thedifference between an ideal robot and a real robot without AbsAcc may reach upto 8 mm, resulting frommechanical tolerances and deflection in the robot structure.If there is a difference, at first start-up, between calibration data in controller andthe robot SMB, correct by copying data from SMB to controller.

Absolute Accuracy optionThe Absolute Accuracy option is integrated in the controller algorithms forcompensation of this difference and does not need external equipment orcalculation. Absolute Accuracy is a RobotWare option and includes an individualcalibration of the robot (mechanical arm). Absolute Accuracy is a TCP calibrationin order to reach a good positioning in the Cartesian coordinate system.

xx1100000571



1 Description1.4.2 Absolute Accuracy calibration

Product dataTypical production data regarding calibration are:

Positioning accuracy (mm)Robot

% Within 1 mmMaxAverage

1000.700.30IRB 2400/10IRB 2400/16



1 Description1.4.2 Absolute Accuracy calibrationContinued

1.5 Load diagrams

1.5.1 Introduction to load diagrams

Information

WARNING

It is very important to always define correct actual load data and correct payloadof the robot. Incorrect definitions of load data can result in overloading of therobot.If incorrect load data and/or loads are outside load diagram is used the followingparts can be damaged due to overload:• motors• gearboxes• mechanical structure

WARNING

In the robot system is the service routine LoadIdentify available, which allowsthe user to make an automatic definition of the tool and load, to determine correctload parameters. Please seeOperating Manual - IRC5 with FlexPendant, art. No.3HAC16590-1, for detailed information.

WARNING

Robots running with incorrect load data and/or with loads outside diagram, willnot be covered by robot warranty.

GeneralThe load diagrams include a nominal payload inertia, J0 of 0.040 kgm2 for IRB

2400/10, 0.040 kgm2 for IRB 2400/10 and 0.060 kgm2 for IRB 2400/16 (also withextended load diagram). At different moment of inertia the load diagram will bechanged. For robots that are allowed tilted, wall or inverted mounted, the loaddiagrams as given are valid and thus it is also possible to use RobotLoad withinthose tilt and axis limits.

Control of load case by "RobotLoad"To easily control a specific load case, use the calculation programABBRobotLoad.Contact your local ABB organization for more information.The result from RobotLoad is only valid within the maximum loads and tilt angles.There is no warning if the maximum permitted armload is exceeded. For over loadcases and special applications, contact ABB for further analysis.



1 Description1.5.1 Introduction to load diagrams

Load diagrams

IRB 2400/10



1 Description1.5.1 Introduction to load diagramsContinued

IRB 2400/16



1 Description1.5.1 Introduction to load diagrams

Continued

IRB 2400/16 Extended load diagramBelow is a extended load diagram for IRB 2400/16, payload 20 kg.No extra load on wrist.

85



1 Description1.5.1 Introduction to load diagramsContinued

1.5.2 Maximum load and moment of inertia for full and limited axis 5 movement

Note

Total load given as: Mass in kg, center of gravity (Z and L) in meter and momentof inertia (Jox Joy Joz) in kgm2 . L=sqr(x2 + y2).

Full movement of axis 5 (±115o)

Maximum moment of interiaRobot typeAxis

Ja5 = Load x ((Z + 0,0852 + L2 ) + max (J0x, J0y) ≤ 1.15 kgm2IRB 2400/105

Ja6 = Load x L2 + J0Z ≤ 0.70 kgm2IRB 2400/106

Maximum moment of interiaRobot typeAxis

Ja5 = Load x ((Z + 0,0852 + L2 ) + max (J0x, J0y) ≤ 1.85 kgm2IRB 2400/165

Ja6 = Load x L2 + J0Z ≤ 1.05 kgm2IRB 2400/166



1 Description1.5.2 Maximum load and moment of inertia for full and limited axis 5 movement

1.5.3 Wrist torque

Maximum torque due to payloadThe table below shows the maximum permissible torque due to payload:

Note

The values are for reference only, and should not be used for calculating permittedload offset (position of center of gravity) within the load diagram, since thosealso are limited by main axes torques as well as dynamic loads. Also arm loadswill influence the permitted load diagram, please contact your local ABBorganization.

Max torque valid atload

Max wrist torqueaxis 6

Max wrist torqueaxis 4 and 5

Robot type

10 kg9.81 Nm20.6 NmIRB 2400/10

16 kg15.7 Nm33.0 NmIRB 2400/16



1 Description1.5.3 Wrist torque

1.6 Mounting equipment

1.6.1 Information about mounting equipment

Mounting equipmentThe robot is supplied with tapped holes on the upper arm and on the base formounting extra equipment.

IRB 2400/10 and IRB 2400/16

40

0

300

35

70

65 177M8 (3x) 14

A A110

25

100

200

300 450

D=240

(B)

A - A

M5 (2x)

22

43

(C)

78 90

38o

M8 (3x)

C - C

120o (3x)

D=50

150

(D)

B

B

C

C

(A)

M8 (3x)

120o (3x)

B - B

38o

M6 (2x) 12

7.5

16 R=92

16 R=77

xx1100000577

Max loadPos

The rear side of the manipulatorA



1 Description1.6.1 Information about mounting equipment

Max loadPos

Max. 2 kgB

Max. 10 kgC

Max. 35 kg totalD

IRB 2400/16 with payload 20 kg

30

0

100

35

70

65 177

M8 (3x)14

A A

100

200

A - A (D)

90

38o

M8 (3x) R=77

16

C - C

120o (3x)

D=50

150

(C)

B

B

C

C

(B)

M8 (3x) R=9216

120o (3x)

B - B

38o

(A)

DescriptionPos

No extra load on wristA

The rear side of the manipulatorB

Max. 35 kg totalC

Max. 10 kgD



1 Description1.6.1 Information about mounting equipmentContinued

Note

Maximum loads must never be exceeded!

Tool flangeFor fastening of gripper tool flange to Robot tool flange every one of the screwholes for 6 screws, quality class 12.9 shall be used. Min. 10 mm used thread length.

IRB 2400/10 and IRB 2400/16

7

D=

31

,5

D=6+0.012-0

M6 (6x)

60

o

30o

A - A

A

A

R=25

Ø 0.05 B

D=

63

h8

B

5x

H7, min 8

H8

+0

.03

9-0

+0 -0

.04

6

10

xx1100000580

For fastening of Gripper tool frange to Robot tool flange every other one of thescrew holes for 6 screws, quality class 12.9 shall be used.



1 Description1.6.1 Information about mounting equipment

Continued

1.7 Maintenance and troubleshooting

GeneralThe robot requires only minimum maintenance during operation. It has beendesigned to make it as easy to service as possible:

• Maintenance-free AC motors are used.• Oil is used for the gear boxes.• The cabling is routed for longevity, and in the unlikely event of a failure, its

modular design makes it easy to change.

MaintenanceThemaintenance intervals depend on the use of the robot, the requiredmaintenanceactivities also depends on selected options. For detailed information onmaintenanceprocedures, see Maintenance section in the Product Manual.



1 Description1.7 Maintenance and troubleshooting

1.8 Robot motion

Introduction to robot motion

IRB 2400/10 and IRB 2400/16The working area is the same for both floor and inverted mounting.

For wall mounted 10 kg version axis 1 is limited to ±30o .

Range of movementType of motionAxis

+ 180° to - 180°Rotation Motion1

+ 110° to - 100°Arm motion2

+ 65° to - 60°Arm motion3

+ 200° to - 200° (Unlimited as optional)Rotation Motion4

+ 120° to - 120°Bend motion5

+ 400° to - 400°Turn motion6+ 250 rev. i to - 250 rev. Max. ii

i rev. = Revolutionsii The default working range for axis 6 can be extended by changing parameter values in the software.

Option 610-1 "Independent axis" can be used for resetting the revolution counter after the axis hasbeen rotated (no need for "rewinding" the axis).

xx0200000160

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

Angle (degrees)Axis 3


Position (mm) ZPosition (mm) XPosition no (seefigure above)

0014558550

-60020413601

6506935412

-60110-11813513

18.3110-3024004

-60-100624-13505



1 Description1.8 Robot motion



Position (mm) ZPosition (mm) XPosition no (seefigure above)

65-1001036-536

Performance according to ISO 9283At rated maximum load, maximum offset and 1.6 m/s velocity on the inclined ISOtest plane, with all six axes in motion. Values in the table below are the averageresult of measurements on a small number of robots. The result may differdepending on where in the working range the robot is positioning, velocity, armconfiguration, from which direction the position is approached, the load directionof the arm system. Backlashes in gearboxes also affect the result.The figures for AP, RP, AT and RT are measured according to figure below.

xx0800000424


Programmed pathEProgrammed positionA

Actual path at program executionDMean position at programexecution

B

Max deviation from E to average pathATMean distance from pro-grammed position

AP

Tolerance of the path at repeatedprogram execution

RTTolerance of position B at re-peated positioning

RP

IRB 2400/16IRB 2400/10Description

0.030.03Pose repeatability, RP (mm)

0.030.03Pose accuracy, AP i (mm)

0.150.11Linear path repeatability, RT (mm)

0.410.33Linear path accuracy, AT (mm)

0.220.15Pose stabilization time, (PSt) to within 0.4 mm of theposition (s)i AP according to the ISO teset above, is the difference between the reached position (position

manually modified in the cell) and the average potition obtained during program executionThe above values are the range of average test results from a number of robots.



1 Description1.8 Robot motionContinued

Velocity

Maximum axis speed

Axis 6Axis 5Axis 4Axis 3Axis 2Axis 1Robot type

450 °/s360 °/s360 °/s150 °/s150 °/s150 °/sIRB 2400/1090 °/s iii90 °/s ii90 °/s i

450 °/s360 °/s360 °/s150 °/s150 °/s150 °/sIRB 2400/16i For wall mounted 10 kg version.ii For wall mounted 10 kg version.iii For wall mounted 10 kg version.There is a supervision function to prevent overheating in applications with intensiveand frequent movements.

Axis resolutionApprox. 0.01° on each axis.

Stopping distance/timeStopping distance/time for emergency stop (category 0), program stop (category1)and at mains power supply failure at max speed, max stretched out and max load,categories according to EN 60204-1. All results are from tests on one moving axis.All stop distances are valid for floor mounted robot, without any tilting.

Main power failureCategory 1Category 0Robot type

BABABAAxis

0.6051.40.5543.30.5239.71IRB 2400/10

0.2523.70.1916.40.1813.52

0.2926.80.2418.70.2216.33

0.6756.10.8871.00.6248.41IRB 2400/16

0.2623.60.3628.80.2116.82

0.3532.30.4437.90.3024.93

Description

Stopping distance in degreesA

Stop time (s)B



1 Description1.8 Robot motion

Continued

1.9 Signals

Note

For more information of air and signals for extra equipment to upper arm, seeApplication interface on page 39.



1 Description1.9 Signals

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

GeneralThe different variants and options for the IRB 2400 are described in the followingsections. The same option numbers are used here as in the specification form.

Related informationFor the controller see Product specification - Controller IRC5.For the software options see Product specification - Controller software IRC5.



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

2.2 Manipulator

Variants

Handling capacity (kg) / Reach (m)IRB TypeOption

10/1.55IRB 2400/10435-7

16/1.55IRB 2400/16435-8

Manipulator color

NoteDescriptionOption

ABB Orange standard209-1

ABB White standard209-2

Standard colorABB Graphite White standard209-202

The robot is painted with the chosen RAL-color.209-

Note

Notice that delivery time for painted spare parts will increase for none standardcolors.

Protection

DescriptionOption

Standard287-4



2 Specification of variants and options2.2 Manipulator

DescriptionOption

Foundry Plus287-3The Foundry Plus option is designed for harsh environments where therobot is exposed to sprays of coolants, lubricants and metal spits thatare typical for die casting applications or other similar applications. Typ-ical applications are spraying insertion and part extraction of die-castingmachines, handling in sand casting and gravity casting, etc. (Please referto Foundry Prime for washing applications or other similar applications).Special care must be taken in regard to operational and maintenancerequirements for applications in foundry are as well as in other applica-tions areas. Please contact ABB Robotics Sales organization if in doubtregarding specific application feasibility for the Foundry Plus robot. TheFoundry Plus robot is painted with two-component epoxy on top of aprimer for corrosion protection. To further improve the corrosion protectionadditional rust preventive are applied to exposed and crucial areas, e.g.has the tool flange a special preventive coating. Although, continuoussplashing of water or other similar rust formation fluids may case rustattach on the robots unpainted areas, joints, or other unprotected surfaces.Under these circumstances it is recommended to add rust inhibitor to thefluid or take other measures to prevent potential rust formation on thementioned.The entire robot is IP67 compliant according to IEC 60529 -from base to wrist (except IRB 2400L, IP67 only on wrist and connectors),which means that the electrical compartments are sealed against waterand solid contaminants. Among other things all sensitive parts are betterprotected than the standard offer.Selected Foundry Plus features:- Improved sealing to prevent penetration into cavities to secure IP67- Additional protection of cabling and electronics- Special covers protecting cavities- Well-proven connectors- Rust preventives on screws, washers and unpainted/machined surfaces- Extended service and maintenance programThe Foundry Plus robot can be cleaned with appropriate washing equip-ment.The robot is labeled with “Foundry Plus” (IRB 2400F/10 and F/16).

Mounting position

DescriptionOption

Floor mounted224-1

Inverted224-2

Application interfaceAir supply and signals for extra equipment to upper arm.For connection of extra equipment on the manipulator, there are cables integratedinto the manipulator’s cabling, one FCI UT07 14 12SH44N connector and one FCIUT07 18 23SH44N connector on the rear part of the upper arm.A hose for compressed air is also integrated into the manipulator. There is an inlet(R1/4”) at the base and an outlet (R1/4”) on the upper arm.

DescriptionType

50 V, 250mA23Signals

250 V, 2 A10Power

Max. 8 bar, inner hose diameter 8 mm1Air




Continued

DescriptionOption

Integrated hose and cables for connection of extra equip-ment on the manipulator to the rear part of the upper arm.

218-8

Application interface connection to

DescriptionOption

16-1

The signals are connected to 12-pole screw terminals,Phoenix MSTB 2.5/12-ST-5.08, to the the controller.

16-1 Cabinet i

i Note! In a IRC5MultiMove application additional robots have no Control Module. The screw terminalswith internal cabling are then delivered separately to be mounted in the main robot Control Moduleor in another encapsulation, for example a PLC cabinet.

Connector kitDetached connectors, suitable to the connectors for the application interface andposition switches.The kit consists of connectors, pins and sockets.

DescriptionOption

For the connectors on the upper arm if application interface, option 218-8 or option 218-6.

431-1

For the connectors on the foot if connection to manipulator, option 16-2.239-1

Safety lamp

DescriptionOption

A safety lamp with an orange fixed light can be mounted on the manipu-lator.

213-1

The lamp is active in MOTORS ON mode.The safety lamp is required on a UL/UR approved robot.

Electronic Position Switches (EPS)The mechanical position switches indicating the position of the three main axesare replaced with electronic position switches for up to 7 axes, for increasedflexibility and robustness. For more detailed information, see Productspecification - Controller IRC5with FlexPendant andApplicationmanual - ElectronicPosition Switches.

Working range limit - axis 1To increase the safety of the robot, the working range of axis 1 can be restriced.

DescriptionOption

Axis 128-1Two extra stops for restricting the working range. The stops can bemounted within the area from 50o to 140o . See figure below.



2 Specification of variants and options2.2 ManipulatorContinued

xx0500002105

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

DescriptionOption

Axis 232-1Stop lugs for restricting the working area. The figure below illustrates themounting positions of the stops.

80°

50°

20°

40°

70°

xx1100000586

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

DescriptionOption

Axis 334-1Equipment for electrically restricting the working range in increments of5o .

Warranty

DescriptionTypeOption

Standard warranty is 12months fromCustomer DeliveryDate or latest 18 months after Factory Shipment Date,whichever occurs first. Warranty terms and conditionsapply.

Standard warranty438-1

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




Continued




438-4



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



2 Specification of variants and options2.2 ManipulatorContinued

2.3 Positioners

GeneralRegarding positioners, see Product specification - IRBP /D2009, 3HAC038208-001.



2 Specification of variants and options2.3 Positioners

2.4 Track motion

Track motion type


For IRB 1600/2400 robot, with a travel length of 1.7 m.For for example material handling robot.

Not for AW1000-5

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

For AW1000-6

Additional travel length

DescriptionDescriptionOption

Chose additional travel length in meter, above the min.length under Track Motion Type.

(1-18) Add travellength

1001-1

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

Example of ordering a track motion RTT, with a requested travel length of 7.5 m:

xx1100000587

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



2 Specification of variants and options2.4 Track motion

2.5 Floor cables

2.5.1 Manipulator

Manipulator cable length

LengthsOption

7 m210-2

15 m210-3

22 m210-4

30 m210-5

Connection of Parallel communication

LengthsOption

7 m94-1

15 m94-2

30 m94-4



2 Specification of variants and options2.5.1 Manipulator

2.5.2 Positioner

Positioner cable 1

LengthsOption

7 m1067-1

10 m (Standard length)1067-2

15 m1067-3

Positioner cable 2

LengthsOption

7 m1068-1

10 m (Standard length)1068-2

15 m1068-3

Positioner cable type


Only available with one or two MTC250/500/750/2000/5000

Flexible1048-1

Weld return cable

LengthsOption

7 m1056-1

7 m x 21056-2

10 m1056-3

10 m x 21056-4

15 m1056-5

15 m x 21056-6

Return cable


Choose quantity, 1-2OKC T-connec-tion

1057-1



2 Specification of variants and options2.5.2 Positioner

2.6 Process

2.6.1 DressPack

Process module


Only available with one or two MTC250/500/750/2000/5000

Empty cabinetsmall

768-1

Empty cabinetlarge

768-2

WeldGuide III


Only together with ArsitoMig 4000i/5000i, MigRob andTPS power sources. Digital I/O or AD Combi I/O isneeded for WeldGuide functions. Requires optionWeldGuide MultiPass [815-2].

Basic958-1

Only together with ArsitoMig 4000i/5000i, MigRob andTPS power sources. Digital I/O or AD Combi I/O isneeded for WeldGuide functions. Requires optionWeldGuide MultiPass [815-2].

Advanced958-2

Installation kit


See Product Specification - Controller IRC5 with Flex-Pendant.

Installation kit715-1



2 Specification of variants and options2.6.1 DressPack

2.6.2 Process equipment

Torch service


ABB Torch Service Center.ABB TSC1037-1

ABB Torch cleaner.ABB TC961037-2

BullsEye stand alone.BullsEye1037-3

Torch service options


Extension pedestal for TSC/TC/BullsEye.Extensionpedes-tal

1038-1



2 Specification of variants and options2.6.2 Process equipment

3 Accessories3.1 Introduction to accessories

GeneralThere is a range of tools and equipment available, especially designed for themanipulator.

Basic software and software options for robot and PCFor more information, see Product specification - Controller IRC5 with FlexPendantand Product specification - Controller software IRC5.

Robot peripherals• Track Motion• Motor Units• Positioners



3 Accessories3.1 Introduction to accessories

This page is intentionally left blank

IndexAaccessories, 49

CCalibration Pendulum, 20

EElectronic Position Switches, 40EPS, 40

Ffine calibration, 20

Ooptions, 37

Pproduct standards, 13

Ssafety standards, 13standards, 13

ANSI, 14CAN, 14EN, 13EN IEC, 13EN ISO, 13

standard warranty, 41stock warranty, 41

Vvariants, 37

Wwarranty, 41



Index

Contact us

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

3HAC

0421

95-001

,Rev

L,en

product specification - irb 2400 ·...

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