robotics productspecification irb660 irb 660 robotic arm... ·...

ROBOTICS

Product specificationIRB 660

Trace back information:Workspace R17-2 version a19 (not checked in)Published 2017-10-17 at 07:27:58Skribenta version 5.1.011

Product specificationIRB 660-180/3.15IRB 660-250/3.15

Document ID: 3HAC023932-001Revision: S

© 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 specification ..........................................................................................................9Overview ...........................................................................................................................................

111 Description111.1 Structure .........................................................................................................111.1.1 Introduction ............................................................................................131.1.2 Different robot versions ............................................................................141.1.3 Definition of version designation ................................................................171.2 Standards ........................................................................................................171.2.1 Applicable standards ...............................................................................191.3 Installation .......................................................................................................191.3.1 Introduction ............................................................................................201.3.2 Operating requirements ............................................................................211.3.3 Mounting the manipulator .........................................................................261.4 Calibration .......................................................................................................261.4.1 Calibration methods .................................................................................281.4.2 Fine calibration with Calibration Pendulum ...................................................291.5 Load diagrams ..................................................................................................291.5.1 Introduction to Load diagrams ...................................................................301.5.2 Load diagrams ........................................................................................321.5.3 Maximum load and moment of inertia ..........................................................331.5.4 Maximum TCP acceleration .......................................................................341.6 Mounting of equipment .......................................................................................341.6.1 Overview ...............................................................................................381.7 Robot motion ....................................................................................................381.7.1 Introduction ............................................................................................401.7.2 Performance according to ISO 9283 ............................................................411.7.3 Velocity .................................................................................................421.7.4 Stopping distance/time .............................................................................431.8 Customer connections .......................................................................................431.8.1 Introduction ............................................................................................441.9 Maintenance and troubleshooting .........................................................................441.9.1 Introduction ............................................................................................

452 Specification of variants and options452.1 Introduction to variants and options ......................................................................462.2 Manipulator ......................................................................................................482.3 Floor cables .....................................................................................................492.4 Process ...........................................................................................................

513 Accessories513.1 Introduction to accessories .................................................................................

53Index

Product specification - IRB 660 53HAC023932-001 Revision: S


Table of contents

This page is intentionally left blank

Overview of this specificationAbout this Product specification

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

• The structure and dimensional prints• The fulfilment of standards, safety and operating requirements• The load diagrams, mounting of extra equipment, the motion and the robot

reach• The specification of variant 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.

Who should read this manual?This manual 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.

3HAC025755-001Product manual - IRB 660

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

Revisions

DescriptionRevision

- New Product specification-

- General correctionsA

- Changes in Figure 3 and Figure 16.B

- Update Customer connections- Interbus removedC- Footnote added to “Pose accuracy”- Stock Warranty

Continues on next pageProduct specification - IRB 660 73HAC023932-001 Revision: S


Overview of this specification

DescriptionRevision

- Changes in chapter StandardsD- Directions of forces- Warranty information for Load diagrams

- Position switches removed.E

- Work rangeF- Explanation of ISO values (new figure and table)- Stopping distance- User documentation on DVD

- General update for 9.1 releaseG

- Text for Standards updatedH

- Tightening torque adjustedJ• Table for ambient temperature adjusted• New picture of tool flange• Minor corrections of foundation forces

K

• Machinery directive updated• Minor corrections

L

• Base plate drawing updatedM• Minor corrections/updateN• Text for ISO test adjustedP• Minor corrections/updateQ

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

• Axis Calibration method added• Restriction of load diagram added.

R

Published in release R17.2. The following updates are done in this revi-sion:

• Updated list of applicable standards.• TCP acceleration information added

S

8 Product specification - IRB 6603HAC023932-001 Revision: S


Overview of this specificationContinued

OverviewAbout this Product specification

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

• The structure and dimensional prints• The fulfilment of standards, safety and operating requirements• The load diagrams, mounting of extra equipment, the motion and the robot

reach• The specification of variant 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.

Who should read this manual?This manual is intended for:

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

ContentsPlease see Table of Contents on page 3.

References

Document IDReference

3HAC041344-001Product specification - Controller IRC5 with FlexPendant

3HAC022349-001Product specification - Controller software IRC5

3HAC024534-001Product specification - Robot user documentation, IRC5 with Robot-Ware 5

3HAC025755-001Product manual - IRB 660

Revisions

DescriptionRevision

- New Product specification-

- General correctionsA

- Changes in Figure 3 and Figure 16.B

- Update Customer connections- Interbus removedC- Footnote added to “Pose accuracy”- Stock Warranty



Overview

DescriptionRevision

- Changes in chapter StandardsD- Directions of forces- Warranty information for Load diagrams

- Position switches removed.E

- Work rangeF- Explanation of ISO values (new figure and table)- Stopping distance- User documentation on DVD

- General update for 9.1 releaseG

- Text for Standards updatedH

- Tightening torque adjustedJ• Table for ambient temperature adjusted• New picture of tool flange• Minor corrections of foundation forces

K

• Machinery directive updated• Minor corrections

L

• Base plate drawing updatedM• Minor corrections/updateN• Text for ISO test adjustedP



OverviewContinued

1 Description1.1 Structure

1.1.1 Introduction

Robot familyIRB 660 is ABB Robotics latest generation of 4-axis palletizing robot, designedwith a focus on its high production capacity, short cycle time at a high payload,long reach together with the very high uptime, which is significant for ABB’s robots.It is available in two versions; a handling capacity of 180 kg and 250 kg, both witha reach of 3.15 m.Customer connections such as power signals, Bus signals and twin air areintegrated in the robot, from the robot base to connections at the robot tool flange.

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 andso on. For more information, see Product specification - Controller IRC5 withFlexPendant.

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 feature suchas network communication, and advanced functions such as multitasking, sensorcontrol and so on. For a complete description on optional software, see Productspecification - Controller software IRC5.



1 Description1.1.1 Introduction

Manipulator axesThe IRB 660 manipulator has 4 axes as shown in the following figure.

B

D

C

en1000000670

DescriptionPos.

Axis 1A

Axis 2B

Axis 3C

Axis 6D



1 Description1.1.1 IntroductionContinued

1.1.2 Different robot versions

GeneralThe IRB 660 is available in two versions.

Reach (m)Handling capacity (kg)Robot type

3.15180IRB 660

3.15250IRB 660



1 Description1.1.2 Different robot versions

1.1.3 Definition of version designation

IRB 660 MountingHandling capacity/ Reach

DescriptionPrefix

Floor-mounted manipulator-Mounting

Indicates the maximum handling capacity (kg)yyyHandling capacity

Indicates the maximum reach at wrist center (m)x.xReach

Manipulator weight

Weight (kg)Reach (m)Handling capacity (kg)Robot type

17503.15180IRB 660

17503.15250IRB 660

Other technical data

NoteDescriptionData

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

The sound pressure leveloutside the working space

Airborne noise level

Continues on next page14 Product specification - IRB 660

3HAC023932-001 Revision: S© Copyright 2004-2017 ABB. All rights reserved.

1 Description1.1.3 Definition of version designation

Power consumption at max loadPath E1-E2-E3-E4 in the ISO Cube.

Power consumption [kW]ISO Cube Speed [mm/s]

IRB 660-250/3.15IRB 660-180/3.15

2.363.17Max.

1.501.311000

1.020.89500

0.700.61100

General Palletizing movements in 48s. at maximum speed.

Power consumption [kW]General Palletizing move-ments

IRB 660-250/3.15IRB 660-180/3.15

2.343.08Max. speed

The path E1-E2-E3-E4 in the ISO Cube is shown in the following figure.

E1

E4 E3

E2

A

xx1000000101

DescriptionPos

1000mmA



1 Description1.1.3 Definition of version designation

Continued

Dimensions IRB660The following figure shows the front, side, and top view of the IRB660 manipulator(dimensions in mm). Allow 200 mm behind the manipulator foot for cables.

en1000000821

DescriptionPosition

At mechanical stopA

At max. working range axis 2B

At max. working range axis 3C

At min. working range axis 3D

Radius for fork lift pocketE

Radius for axis 3 motorF



1 Description1.1.3 Definition of version designationContinued

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 12100:2010

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

EN ISO 13849-1:2015

Safety of machinery - Emergency stop - Principles for designEN ISO 13850:2015

Robots for industrial environments - Safety requirements -Part1 Robot

EN ISO 10218-1:2011

Robots and robotic devices -- Coordinate systems and motionnomenclatures

ISO 9787:2013

Manipulating industrial robots, performance criteria, and relatedtest methods

ISO 9283:1998

Classification of air cleanlinessEN ISO 14644-1:2015 i

Ergonomics of the thermal environment - Part 1EN ISO 13732-1:2008

EMC, Generic emissionEN 61000-6-4:2007 +A1:2011IEC 61000-6-4:2006 +A1:2010(option 129-1)

EMC, Generic immunityEN 61000-6-2:2005IEC 61000-6-2:2005

Arc welding equipment - Part 1: Welding power sourcesEN IEC 60974-1:2012 ii

Arc welding equipment - Part 10: EMC requirementsEN IEC 60974-10:2014 ii

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

EN IEC 60204-1:2006

Degrees of protection provided by enclosures (IP code)IEC 60529:1989 + A2:2013i Only robots with protection Clean Room.ii Only valid for arc welding robots. Replaces EN IEC 61000-6-4 for arc welding robots.

European standards

DescriptionStandard

Safety of machinery - Ergonomic design principles - Part 1:Terminology and general principles

EN 614-1:2006 + A1:2009



1 Description1.2.1 Applicable standards

DescriptionStandard

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

EN 574:1996 + A1:2008

Other standards

DescriptionStandard

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

Safety standard for robots and robotic equipmentANSI/UL 1740

Industrial robots and robot Systems - General safety require-ments

CAN/CSA Z 434-14



1 Description1.2.1 Applicable standardsContinued

1.3 Installation

1.3.1 Introduction

GeneralIRB 660 is designed for floor mounting (no tilting allowed around X or Y axis).Depending on the robot version, an end effector with maximum weight of 180 to250 kg including payload, can be mounted on the mounting flange (axis 6). Formore information on Load diagrams, see Load diagrams on page 30.

Working RangeThe working range of axis 1 can be limited bymechanical stops. Electronic PositionSwitches can be used on all axes, for position indication of the manipulator.

External Mains TransformerInclude an external transformer for mains voltage 200V and 220V.




1.3.2 Operating requirements

Protection standardsManipulator IP67.

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

Ambient temperature

TemperatureStandard/OptionDescription

0°C i (32°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

recommended to be run with the robot. Below 5o C this warm-up phase is mandatory. Otherwisethere is a risk that the robot stops or run with lower performance due to temperature dependentoil and grease viscosity.

Relative humidity

Relative humidiyDescription

Maximum95%at constant temperat-ure

Complete robot during operation, transportation andstorage



1 Description1.3.2 Operating requirements

1.3.3 Mounting the manipulator

Maximum LoadMaximum load in relation to the base coordinate system.Floor Mounted

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

± 11.7 kN± 8.0 kNForce xy

18.0 ±8.2 kN18.0 ±4.9 kNForce z

± 31.2 kNm± 23.2 kNmTorque xy

± 9.9 kNm± 7.7 kNmTorque z

The following figure shows the direction of forces.

en1000000825

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).



1 Description1.3.3 Mounting the manipulator

Fastening holes robot baseThe following figure shows the hole configuration (dimensions in mm).

B B

XZ

Ø 0,3

A A

15º (4x)

37,5

º (4x)

(31

7,3

4)

(4x)

(24

3,5

) (4

x)

Ø 800

(317,34) (4x)

(243,5) (4x)

Y

Ø 53 (12x)

Ø 30 (12x)

16

88

± 0

.3

Ø 45H7 (4x)

B - B A - A

xx1000000826

Recommended screws for fastening the manipulator to a base plate:• M24 x 140 8.8 with 4 mm flat washer. Torque value 725 Nm.

Note

Only two guiding sleeves shall be used. The corresponding holes in the baseplate shall be circular and oval according to the following base plate drawing.Regarding AbsAcc performance, the recommended are the chosen guide holesthose are according to the following base plate drawing.



1 Description1.3.3 Mounting the manipulatorContinued

Base plate drawingThe following figure shows the option base plate (dimensions in mm).

A

A

B

B

C

D G H

EF

2x R525

598,31

560,85

487,01

243,5

0

73,84

111,30

1020

857,3

73

,84

13

2,6

4

31

7,3

50

2,0

4

56

0,8

5

63

4,6

8 02x 50x45º

23

1,5

2x 4

50

95

0

(Ø 800)

12x M24

Ø1 A

455

C

A

4x48

13(2

)

1,6

3x45º

0.3

Ø 45P7A-A

Ø1.5

(4x)

6,3

(48)

(2)

1,6

3x45º

B-B

(2)

13

3x R1

3x4

3x 90º

C-C

45K7

+0,50

47

0,25 c

(2x R22,5)

1,6

D

(2)

c

52,5

º

Common Zone

E, F, G, H

xx1000001053

Common tolerance zone (accuracy all over the base plate from one contactsurface to the other)

E, F, G, H




Continued

840,9

699,5

625 (2x)

325 (2x)

250,5

109,1

0

87

4,6

(2

x)

79

0 (

2x)

70

6 (

2x)

29

0 (

2x)0

0

119

138,4

241,1

225,8

R50 (12x) 4x Ø18.

2x2

06

,9

2x2

19

,8

2x3

11

,1

2x3

65

,3

0

831

811,6

724,2

708,9

50

027 (4x)68

150

202

385

565

748

800

882923 (4x)

Ø16 (5x)

Ø22 (16x)

86

1 (

2x)

35

8 (

2x)

18

0

905

813

475

137

45

0

03

7 (

2x)

87

(2

x)

29

3 (

2x)

45

0 (

2x)

63

0 (

2x)

81

3 (

2x)

94

7 (

2x)

99

1 (

2x)

(A)

xx1000001054

DescriptionPos

Color: RAL 9005AThickness: 80-100 µm



1 Description1.3.3 Mounting the manipulatorContinued

xx1000001055

DescriptionPos

Guide sleeve protected from corrosionA




Continued

1.4 Calibration

1.4.1 Calibration methods

OverviewThis section specifies the different types of calibration and the calibrationmethodsthat are supplied by ABB.

Types of calibration

Calibration methodDescriptionType of calibration

Axis Calibration or Cal-ibration Pendulum i

The calibrated robot is positioned at calibrationposition.Standard calibration data is found on the SMB(serial measurement board) or EIB in the robot.

Standard calibration

For robots with RobotWare 5.04 or older, thecalibration data is delivered in a file, calib.cfg,supplied with the robot at delivery. The fileidentifies the correct resolver/motor positioncorresponding to the robot home position.

CalibWareBased on standard calibration, and besidespositioning the robot at synchronization posi-tion, the Absolute accuracy calibration alsocompensates for:

• Mechanical tolerances in the robotstructure

• Deflection due to loadAbsolute accuracy calibration focuses on pos-itioning accuracy in the Cartesian coordinatesystem for the robot.

Absolute accuracycalibration (option-al)

Absolute accuracy calibration data is foundon the SMB (serial measurement board) in therobot.For robots with RobotWare 5.05 or older, theabsolute accuracy calibration data is deliveredin a file, absacc.cfg, supplied with the robot atdelivery. The file replaces the calib.cfg file andidentifies motor positions as well as absoluteaccuracy compensation parameters.A robot calibrated with absolute accuracy hasa sticker next to the identification plate of therobot.To regain 100% absolute accuracy perform-ance, the robot must be recalibrated for abso-lute accuracy!

xx0400001197

i The robot is calibrated by either Calibration Pendulum or Axis Calibration at factory. Always usethe same calibration method as used at the factory.Information about valid calibration method is found on the calibration label or in the calibrationmenu on the FlexPendant.If no data is found related to standard calibration, Calibration Pendulum is used as default.



1 Description1.4.1 Calibration methods

Brief description of calibration methods

Axis Calibration methodThe following routines are available for the Axis Calibration method:

• Fine calibration• Update revolution counters• Reference calibration

The calibration equipment for Axis Calibration is delivered as a toolkit.The calibration is described in the product manual for the robot.

Calibration Pendulum methodCalibration Pendulum is a standard calibration method for calibration of many ofABB robots.Two different routines are available for the Calibration Pendulum method:

• Calibration Pendulum II• Reference calibration

The calibration equipment for Calibration Pendulum is delivered as a completetoolkit, including the Operating manual - Calibration Pendulum, which describesthe method and the different routines further.

CalibWare - Absolute Accuracy calibrationTo achieve a good positioning in the Cartesian coordinate system, AbsoluteAccuracy calibration is used as a TCP calibration. The CalibWare tool guidesthrough the calibration process and calculates new compensation parameters.This is further detailed in the Application manual - CalibWare Field 5.0.If a service operation is done to a robot with the option Absolute Accuracy, a newabsolute accuracy calibration is required in order to establish full performance.For most cases after motor and transmission replacements that do not includetaking apart the robot structure, standard calibration is sufficient. Standardcalibration also supports wrist exchange.



1 Description1.4.1 Calibration methods

Continued

1.4.2 Fine calibration with Calibration Pendulum

OverviewFine calibration is made using the Calibration Pendulum, see Operatingmanual - Calibration Pendulum.The following figure shows all axes in zero position.

xx0800000437

DescriptionPosDescriptionPos

Axis 2BAxis 1A

Axis 4DAxis 3C

Axis 6FAxis 5E

PositionCalibration

All axes are in zero positionCalibration of all axes

Axis 1 and 2 in zero positionCalibration of axis 1 and 2Axis 3 to 6 in any position

Axis 1 in zero positionCalibration of axis 1Axis 2 to 6 in any position



1 Description1.4.2 Fine calibration with Calibration Pendulum

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 15 kgm2 , and an extraload of 50 kg at the upper arm housing.At different moment of inertia the load diagram will be changed. For robots thatare allowed tilted, wall or inverted mounted, the load diagrams as given are validand thus it is also possible to use RobotLoad within those 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

1.5.2 Load diagrams

IRB 660-180/3.15The following figures shows the maximum permitted load mounted on the robottool flange at different positions (center of gravity).

xx1000000832



1 Description1.5.2 Load diagrams

IRB 660-250/3.15The following figures shows the maximum permitted load mounted on the robottool flange at different positions (center of gravity).

xx1000000833



1 Description1.5.2 Load diagrams

Continued

1.5.3 Maximum load and moment of inertia

OverviewLoad in kg, Z and L in m and J in kgm2 .

Maximum moment of inertiaAxis

Ja6 = Load x L2 + J0Z≤ 250 kgm26

xx1000000834

DescriptionPos

Center of gravityA

Description

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



1 Description1.5.3 Maximum load and moment of inertia

1.5.4 Maximum TCP acceleration

GeneralHigher values can be reached with lower loads than the nominal because of ourdynamical motion control QuickMove2. For specific values in the unique customercycle, or for robots not listed in the table below, we recommend then to useRobotStudio.

Maximum Cartesian design acceleration for nominal loads

Controlled MotionMax acceleration at nominal loadCOG [m/s2 ]

E-stopMax acceleration at nominalload COG [m/s2 ]

Robot type

1831IRB 660 - 250/3.15

2437IRB 660 - 180/3.15

Note

Acceleration levels for E-stop and controlled motion includes acceleration dueto gravitational forces. Nominal load is define with nominal mass and cog withmax offset in Z and L (see load diagram).



1 Description1.5.4 Maximum TCP acceleration

1.6 Mounting of equipment

1.6.1 Overview

GeneralExtra loads can bemounted on to the upper arm and on to the left side of the frame.Holes and definitions of masses are shown in following figures.For mounting of an external vacuum hose there are six holes on the upper arm(see the following figure). Themaximumweight for the vacuum hose and fasteningdevice is 35kg. When using the holes, the weight of the vacuum hose shall bereduced from the maximum handling capacity, for each variant respectively.

xx1000000835

DescriptionPosition

R750 Right fork lift pocketA

M10 Mounting hole, upper armB



1 Description1.6.1 Overview

FrameFor mounting of extra load on to the frame there are three holes on the left side(see the following figure). The maximum weight of the extra load is 150kg and themaximum moment of inertia is 120kgm2 .

Value and definitionDescription

M = 150 kgPermitted extra load on frame

JH = 120 kgm2Max. moment of inertia for extraload

JH = JH0 + M x R2Recommended position asshown in the following figure JH0 is the moment of inertia (kgm2 ) for the extra load.

R is the radius (m) from the center of axis1.M is the total mass (kg) of the extra load.

xx1000000836




Continued

The following figure shows the radius for extra load on frame.

xx1000000837



1 Description1.6.1 OverviewContinued

Robot tool flangeThe following figure shows the robot tool flange SS-EN ISO 9409-1;2004(dimensions in mm).

xx0500002292

For fastening of gripper-tool-flange to robot-tool-flange all bolt holes for 11 boltsquality class 12.9 shall be used.




Continued

1.7 Robot motion

1.7.1 Introduction

Type of Motion

OptionRange of movementType of motionAxis

+220° to -220°+180° to -180°Rotation motion1

+85° to -42°Arm motion2

+120° to -20°Arm motion3

+300° to -300° DefaultTurn motion6+150 revolutions to -150 revolutionsMax(see the following note)

Note

• The default working range for axis 6 can be extended by changing parametervalues in the software.

• Option 610-1 Independent axis can be used for resetting the revolutioncounter after the axis has been rotated (no need for “rewinding” the axis).




IllustrationThe following figure shows the extreme positions of the robot arm specified at thetool flange center (dimensions in mm).

xx1000000839

DescriptionPosition

Min. working stopA

Mechanical stopB

Max. working stopC

Tool flange centerD

Positions at wrist center

Axis3 Angle(degrees)

Axis2 Angle(degrees)

Z Position(mm)

X Position(mm)

Position number (see pre-ceding figure)

00183319100

-20-4219669721

28-428708952

120502078663

12085-50511604

158531531395

-2050183728096




Continued

1.7.2 Performance according to ISO 9283

GeneralAt 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

DescriptionPosDescriptionPos

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 660-250/3.15IRB 660-180/3.15Description

0.200.20Undirectional pose accuracy, AP i (mm)

0.050.05Unidirectional pose repeatability, RP (mm)

0.170.23Linear path repeatability, RT (mm)

2.132.20Linear path accuracy, AT (mm)

0.220.17Pose stabilization time PST (s)i AP according to the ISO test above, is the difference between the teached position (positionmanually

modified in the cell) and the average position obtained during program execution.The above values are the range of average test results from a number of robots.



1 Description1.7.2 Performance according to ISO 9283

1.7.3 Velocity

Maximum axis speeds

IRB 660-250/3.15IRB 660-180/3.15Axis No.

95°/s130°/s1

95°/s130°/s2

95°/s130°/s3

240°/s300°/s6

There is a supervision function to prevent overheating in applications with intensiveand frequent movements.

Axis ResolutionApprox. 0.01º on each axis.



1 Description1.7.3 Velocity

1.7.4 Stopping distance/time

OverviewStopping distance/time for emergency stop (category 0), program stop (category1)and at mains power supply failure at maximum speed, maximum streched out, andmaximumload, categories according to EN 60204-1. All results are from tests onone moving axis. All stop distances are valid for floor mounted robot, without anytilting.

Main power failureCategory 1Category 0Robot type

BABABAAxis

1.3191.71.18 i80.7 i0.8655.81IRB 660-180/3.15

0.4632.40.5536.40.4126.72

0.3828.80.5034.50.3220.83i Test made with RobotWare 5.06 (not correct brake performance).

Main power failureCategory 1Category 0Robot type

BABABAAxis

1.3160.11.59 i105.2 i0.7736.01IRB 660-250/3.15

0.4323.10.5024.00.3818.32

n.a.31.70.5222.60.3215.13i Test made with RobotWare 5.06 (not correct brake performance).

Description

Stopping distance in degreesA

Stop time (s)B



1 Description1.7.4 Stopping distance/time

1.8 Customer connections

1.8.1 Introduction

GeneralThe customer connection is an option, the cables and the hoses for them areintegrated in the robot and the connectors are placed at axis 6.

• Power, Signals, Bus and 2x Air (CP/CS/BUS/AIR)For further information on the customer connection, see Application interfaceconnection type on page 49.

Specification

CommentHarting Art-icle No.

Connectiontype

SpecificationApplicationType

1x0.75mm2

protectiveearth

Female, EE,8 pin9 140083 101

3-module Hart-ing, shell size10B, EE

4x0.75mm2

(5A/250VAC)Utility powerPower (CP)

4 quad twis-ted, 5screenedpair twisted

Female, HD,25 pin9 140253 101

3-module Hart-ing, shell size10B, HD+EE

16x AWG24 +10x AWG24(50V/1A)

Parallel com-munication

Signals (CS)

Sep.Screened

Female, HD,25 pin9 140253 101

3-module Hart-ing, shell size10B, HD

5x2AWG24(50V/1A)

Signals (CS)

Female, DD,12 pin9 140123 101

3-module Hart-ing, shell size10B, DD

2xAWG26,Z=150 Ohm(1MHz)

ProfibusBus Commu-nication (BUS)

2xAWG26,Z=120 Ohm(1MHz)

CANBus

2x2 AWG24BUS power &BUS utility

Parker Push-lock,1/2”M22x1,5 Brass24 degree seal

2x12.7 (1/2”)P Nom = 16 bar

Utility airAir (AIR)




1.9 Maintenance and troubleshooting

1.9.1 Introduction

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 Product manual - IRB 660, chapter Maintenance.




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

GeneralThe different variants and options for the IRB 660 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

Reach (m)Handling capacity (kg)IRB TypeOption

3.15180660435-58

3.15250660435-59

Manipulator color

NoteDescriptionOption

ABB Orange standard209-1

ABB White standard209-3

Standard colorABBGraphiteWhite standard209-202

The robot is painted inchosen RAL - color

209-3 --192

Note

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

Equipment

DescriptionTypeOption

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

Safety lamp213-1

Lifting device on the manipulator for fork-lift handling.Fork lift device159-1

Can also be used for IRB 7600. See dimension drawing inMounting the manipulator on page 21.

Base plate37-1

Resolver connection, axis 7

NoteDescriptionOption

Used together with first additional drive, option 907-1.On base864-1

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.



2 Specification of variants and options2.2 Manipulator

Work range limit Axis 1To increase the safety of the robot, the working range of axis 1 can be restrictedby extra mechanical stops.


Two stopswhich allow the working range to be restrictedin increments of 7.5°.

Axis 1, 7.5 degrees29-2

Extended work range


To extend the working range on Axis1 from ±180°to ±220°.

Extended work range axis 1561-1

When the option is used the mechanical stop shallbe disassembled.Electronic Position Switches, option 810-1, is re-quired.

Warranty


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



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 Manipulator

Continued

2.3 Floor cables

GeneralAdditional floor cables for customer connections see Process on page 49.

Manipulator cable length

LengthsOption

7 m210-2

15 m210-3

22 m210-4

30 m210-5



2 Specification of variants and options2.3 Floor cables

2.4 Process

Application interface connection type

DescriptionOption

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

Cabinet i16-1

i In a MultiMove application, additional robots have no control module. The screw terminal withinternal cabling are then delivered separately to be mounted in the main robot control module orin another encapsulation, for example a PLC cabinet.

Communication


Includes Customer Signals (CS), Cus-tomer Power (CP), Bus signals and twohoses for Air (inner diameter 12.5 mm)

Parallel, Bus and Air Communication455-6

CAN/DeviceNet/ProfibusThe following information specifies the cable length forParallel/CAN/DeviceNet/Profibus for connection to cabinet.

LengthsOption

7 m90-2/92-2

15 m90-3/92-3

22 m90-4/92-4

30 m90-5/92-5

Empty cabinet


See Product specification - Controller IRC5 withFlexPendant

Empty cabinet small768-1

See Product specification - Controller IRC5 withFlexPendant

Installation kit715-1

Connector kits upper arm


Connector for customer Power/Signals/ andbus at axis 6 tool side.

Upper arm431-1



2 Specification of variants and options2.4 Process

3 Accessories3.1 Introduction to accessories

GeneralThere is a range of tools and equipment available.

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

Robot peripherals• Motor Units1

1 Not applicable for IRC5 Compact controller.



3 Accessories3.1 Introduction to accessories

IndexAAbsolute Accuracy, calibration, 27accessories, 51

Bbus cables, 49

Ccable lengths, 48calibration

Absolute Accuracy type, 26standard type, 26

calibration, Absolute Accuracy, 27Calibration Pendulum, 28CalibWare, 26CAN, 49communication signals, 49connections

application interface, 49customer connections, 43

DDeviceNet, 49

EElectronic Position Switches, 46EPS, 46extra load, 34

Ffine calibration, 28

IISO 9283, 40

Lload diagrams, 30

Mmaintenance, 44maximum load, 32moment of intertia, 32

Ooptions, 45

Pproduct standards, 17Profibus, 49

Ssafety standards, 17standards, 17

ANSI, 18CAN, 18EN, 17EN IEC, 17EN ISO, 17

standard warranty, 47stock warranty, 47

Vvariants, 45–46

Wwarranty, 47



Index

ABB AB, RoboticsRobotics and MotionS-721 68 VÄSTERÅS, SwedenTelephone +46 (0) 21 344 400

ABB AS, RoboticsRobotics and MotionNordlysvegen 7, N-4340 BRYNE, NorwayBox 265, N-4349 BRYNE, NorwayTelephone: +47 22 87 2000

ABB Engineering (Shanghai) Ltd.Robotics and MotionNo. 4528 Kangxin HighwayPuDong DistrictSHANGHAI 201319, ChinaTelephone: +86 21 6105 6666

ABB Inc.Robotics and Motion1250 Brown RoadAuburn Hills, MI 48326USATelephone: +1 248 391 9000

www.abb.com/robotics

3HAC

0239

32-001

,Rev

S,en

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