robotics productspecification irb6700 ·...

ROBOTICS

Product specificationIRB 6700

Trace back information:Workspace R18-1 version a16Checked in 2018-04-18Skribenta version 5.2.025

Product specificationIRB 6700-235/2.65IRB 6700-205/2.80IRB 6700-175/3.05IRB 6700-150/3.20IRB 6700-200/2.60IRB 6700-155/2.85IRB 6700-300/2.70IRB 6700-245/3.00

IRB 6700Inv-300/2.60IRB 6700Inv-245/2.90

IRC5

Document ID: 3HAC044265-001Revision: K

© Copyright 2018 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 2018 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 ............................................................................................121.1.2 Different robot versions ............................................................................131.1.3 Definition of version designations ...............................................................181.2 Standards ........................................................................................................181.2.1 Applicable standards ...............................................................................201.3 Installation .......................................................................................................201.3.1 Introduction to installation .........................................................................211.3.2 Operating requirements ............................................................................221.3.3 Assembling the manipulator ......................................................................291.4 Calibration and references ..................................................................................291.4.1 Fine calibration .......................................................................................301.4.2 Absolute Accuracy calibration ...................................................................321.5 Load diagrams ..................................................................................................321.5.1 Introduction ............................................................................................331.5.2 Diagrams ...............................................................................................

631.5.3 Maximum load and moment of inertia for full and limited axis 5 (center line down)

movement ..............................................................................................651.5.4 Wrist torque ...........................................................................................661.5.5 Maximum TCP acceleration .......................................................................671.6 Fitting equipment to the robot .............................................................................761.7 Maintenance and troubleshooting .........................................................................771.8 Robot motion ....................................................................................................771.8.1 Robot motion ..........................................................................................901.8.2 Performance according to ISO 9283 ............................................................921.8.3 Velocity .................................................................................................931.8.4 Robot stopping distances and times ...........................................................941.9 Cooling fan for axis 1 motor ................................................................................951.10 Servo gun ........................................................................................................951.10.1 Introduction ............................................................................................961.10.2 Stationary gun ........................................................................................971.10.3 Robot gun ..............................................................................................981.10.4 Robot gun and track motion ......................................................................991.10.5 Track motion ..........................................................................................

1012 DressPack and SpotPack1012.1 Introduction ......................................................................................................1012.1.1 Included options .....................................................................................1032.1.2 Product range .........................................................................................1042.1.3 Limitations of robot movements .................................................................1052.1.4 Impact on DressPack lifetime ....................................................................1062.1.5 Information structure ...............................................................................1072.2 DressPack .......................................................................................................1072.2.1 Introduction ............................................................................................1082.2.2 Built-in features for upper arm DressPack ....................................................1092.2.3 Interface descriptions for DressPack ...........................................................1142.2.4 Dimensions ............................................................................................1152.3 Type H/HSe ......................................................................................................1152.3.1 Introduction ............................................................................................1172.3.2 Configuration result for Type H HSe ............................................................1232.3.3 Interface description for stationary gun .......................................................1262.3.4 Summary common options Type H HSe ......................................................1272.3.5 Summary options required for Type HSe .....................................................

Product specification - IRB 6700 53HAC044265-001 Revision: K


Table of contents

1282.4 Type Se ...........................................................................................................1282.4.1 Introduction ............................................................................................1302.4.2 Configuration result for Type Se .................................................................1422.4.3 Summary common options for Type Se .......................................................1432.5 Spot Welding cabinet .........................................................................................1432.5.1 Introduction to Spot Welding cabinet ..........................................................1502.5.2 Interface description for spot welding cabinet ...............................................1512.6 Water and air unit ..............................................................................................1512.6.1 Introduction ............................................................................................1582.6.2 Technical data ........................................................................................1592.7 Connection kits .................................................................................................1602.7.1 Base - Connector kits ...............................................................................1622.7.2 Axis 3 - Connector kits .............................................................................1632.7.3 Axis 6 - Connector kits .............................................................................

1653 Specification of variants and options1653.1 Introduction to variants and options ......................................................................1663.2 Manipulator ......................................................................................................1683.3 Equipment .......................................................................................................1723.4 Floor cables .....................................................................................................1733.5 Process DressPack ...........................................................................................1743.6 DressPack floor cables .......................................................................................1753.7 DressPack Lower and Upper arm .........................................................................1763.8 Connection kits .................................................................................................1773.9 Servo Gun .......................................................................................................1783.10 SpotPack Floor Cables .......................................................................................1793.11 Process cabinet ................................................................................................1803.12 Water and air ....................................................................................................1813.13 User documentation ..........................................................................................

1834 Accessories1834.1 Introduction to accessories .................................................................................

185Index

6 Product specification - IRB 67003HAC044265-001 Revision: K


Table of contents

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• Robot programmers• Project leaders• Design engineers

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.

3HAC044266-001Product manual - IRB 6700

3HAC058254-001Product manual - IRB 6700Inv

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

Revisions

DescriptionRevision

First release-

Continues on next pageProduct specification - IRB 6700 73HAC044265-001 Revision: K


Overview of this product specification

DescriptionRevision• The variants IRB 6700-200/2.60 and IRB 6700-155/2.85 are added.• Minor corrections/updates•

A

• DressPack & SpotPack updatedB• Text for Foundry Plus updated.• Two variants added, IRB 6700-300/2.70 and IRB 6700-245/3.00.• Minor corrections/update

C

• AbsAcc data added• New loads for IRB 6700-300 and -245 added• Values for power consumption, brakes engaged/disengaged added• Tightening torque for robot adjusted• The use of guide pins for robot base added• Updated data (ISO, weight) for IRB 6700-200 and IRB 6700-155

D

• Minor corrections/update• Updated standard tool flange drawing• Guide pins for base plate changed to two cylindrical

E

• Information regarding warranty for upper arm dress pack added.• Minor corrections/update• Section SpotWelding cabinet updated.

F

• Warranty information for DressPack updated.• Dimensions (measure D), for products -150/3.20 and -205/2.80 in

table Holes for fitting extra equipment are changed from 400 mmto 500 mm.

• Illustration in section Fastening holes robot base is updated regard-ing guide holes.

• Illustration regarding centering diameters on tool flange updated.

G

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

• Illustration for Tool flange, standard is updated.• Major structural change is made on chapter Specifications of

variants and options.• IRB 6700Inv is added.• Restriction of load diagram added.• Working range axis 2 and 3 added.

H


• Updated list of applicable standards.• Delete option 828-1, 828-2, 768-3 and 782-1 as they were all phased

out.• 635-1,3,4,5 option phased out and replaced by 636-6.• Type HS and S are phased out.• 782-7, 796-1 phased out.

J


• Water and air unit updated.

K



Overview of this product specificationContinued

1 Description1.1 Structure

1.1.1 Introduction

GeneralThe IRB 6700 series is ABB Robotics 7:th generation of high payload, highperformance industrial robots. Based on the famous IRB 6640 series, with largeworking range, the very high wrist torque, the service friendly modular built up andthe availability, significant for ABB’s robots, the IRB 6700 robot family goes evenfurther. With focus on high production capacity, compact design and low weight,simple service and low maintenance cost. The IRB 6700 is ideal for processapplications, regardless of industry. Typical areas are for example Spot Welding,Material Handling and Machine Tending.

Software product rangeWe have added a range of software products - all falling under the umbrelladesignation of Active Safety - to protect not only personnel in the unlikely eventof an accident, but also robot tools, peripheral equipment and the robot itself.

Process optionsThere are a large number of process options for SpotWelding andMaterial Handlingintegrated in the robot. For a complete description of process options for SpotWelding see DressPack and SpotPack on page 101.

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 multitasking, sensorcontrol etc. For a complete description on optional software, see the Productspecification - Controller software IRC5.

Protection type Foundry Plus 2Robots with the option Foundry Plus 2 are designed for harsh environments wherethe robot is exposed to sprays of coolants, lubricants and metal spits that aretypical for die casting applications or other similar applications.



1 Description1.1.1 Introduction

Typical applications are spraying insertion and part extraction of die-castingmachines, handling in sand casting and gravity casting, etc. (Please refer to FoundryPrime robots for washing applications or other similar applications). Special caremust be taken in regard to operational and maintenance requirements forapplications in foundry are as well as in other applications areas. Please contactABBRobotics Sales organization if in doubt regarding specific application feasibilityfor the Foundry Plus 2 protected robot.The 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 cause rust attach on the robots unpainted areas, joints, orother unprotected surfaces. Under these circumstances it is recommended to addrust inhibitor to the fluid or take other measures to prevent potential rust formationon the mentioned.The entire robot is IP67 compliant according to IEC 60529 - from base to wrist,which means that the electrical compartments are sealed against water and solidcontaminants. Among other things all sensitive parts are better protected than thestandard offer.Selected Foundry Plus 2 features:

• Improved sealing to prevent penetration into cavities to secure IP67• Additional protection of cabling and electronics• Special covers that protect cavities• Well-proven connectors• Nickel coated tool flange• Rust preventives on screws, washers and unpainted/machined surfaces• Extended service and maintenance program

The Foundry Plus 2 robot can be cleaned with appropriate washing equipmentaccording to the robot product manual. Appropriate cleaning and maintenance isrequired to maintain the protection, for example can rust preventive be washed offwith wrong cleaning method.

Available robot versionsThe option Foundry Plus 2 might not be available for all robot versions.See Specification of variants and options on page165 for robot versions and otheroptions not selectable together with Foundry Plus 2.

Continues on next page10 Product specification - IRB 6700

3HAC044265-001 Revision: K© Copyright 2018 ABB. All rights reserved.

1 Description1.1.1 IntroductionContinued

Robot axes

(A)

(B)

(C)

(D)(E)

(F)

xx1300000244

DescriptionPosDescriptionPos

Axis 2BAxis 1A

Axis 4DAxis 3C

Axis 6FAxis 5E




Continued

1.1.2 Different robot versions

GeneralThe IRB 6700 is available in ten versions.

Robot typesThe following standard robot versions are available.

Reach (m)Handling capacity for LeanID (kg)Handling capacity (kg)Robot type

2.65 m220 kg235 kgIRB 6700

2.80 m200 kg205 kgIRB 6700

2.60 m175 kg200 kgIRB 6700

3.05 m155 kg175 kgIRB 6700

2.85 m140 kg155 kgIRB 6700

3.20 m145 kg150 kgIRB 6700

2.70 m270 kg300 kgIRB 6700

3.00 m220 kg245 kgIRB 6700

2.60 m270 kg300 kgIRB 6700Inv

2.90 m210 kg245 kgIRB 6700Inv

Note

If option 780-4, LeanID is selected, the payload will decrease as stated above,for detailed information see Load diagrams on page 32



1 Description1.1.2 Different robot versions

1.1.3 Definition of version designations

IRB 6700 mountingHandling capacity (kg)/Reach (m)

DescriptionPrefix

IRB 6700: Floor-mounted manipulator-MountingIRB 6700Inv: Inverted-mounted manipulator

Indicates the maximum handling capacity (kg)yyyHandling capacity (kg)

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

Manipulator weight

WeightRobot type

1250 kg iIRB 6700-235/2.65

1260 kg iIRB 6700-205/2.80

1205 kg iIRB 6700-200/2.60

1270 kg iIRB 6700-175/3.05

1220 kg iIRB 6700-155/2.85

1280 kg iIRB 6700-150/3.20

1525 kg iIRB 6700-300/2.70

1540 kg iIRB 6700-245/3.00

1690 kg iIRB 6700Inv-300/2.60

1705 kg iIRB 6700Inv-245/2.90i Weight without DressPack

Other technical data

NoteDescriptionData

< 71 dB (A) Leq (acc. to ma-chinery directive 2006/42/EG)

The sound pressure level out-side the working space.

Airborne noise level

Power consumption at max load

Inv245/2.90

Inv300/2.60

245/3.00300/2.70150/3.20155/2.85175/3.05200/2.60205/2.80235/2.65Type of move-ment

3.33.43.23.42.72.72.82.62.62.7ISO CubeMax. velocity(kW)

Inv245/2.90

Inv300/2.60

245/3.00300/2.70150/3.20155/2.85175/3.05200/2.60205/2.80235/2.65Robot in calibra-tion position

0.170.170.150.150.160.150.160.150.170.16Brakes engaged(kW)

0.991.060.750.790.770.690.820.620.840.71Brakes disen-gaged (kW)



1 Description1.1.3 Definition of version designations

E1

E4 E3

E2

A

xx1000000101

DescriptionPos

1,000 mmA



1 Description1.1.3 Definition of version designationsContinued

Main dimensions of IRB 6700

78

0

20

0

1009

377

J

D

H

A

E

C

G

F

745

10

09

36

0 3

60

B

xx1300000241

DescriptionPos

200 mm (all standard variants); except 300/2.70 and 245/3.00 =220 mm350 mm (all LeanID variants, option 780-4); except IRB 300/2.70 and 245/3.00 =380 mm

A

Radius ax1, front = 532 mm (IRB 6700-235/2.65, -205/2.80, -175/3.05, -150/3.20,-200/2.60 and -155/2.85)

B

Radius ax1, front = 600 mm (IRB 6700-300/2.70 and -245/3.00)

Radius ax1, back = 633 mm (IRB 6700-235/2.65, -205/2.80, -175/3.05, -150/3.20,-200/2.60 and -155/2.85)

C

Radius ax1, back = 700 mm (IRB 6700-300/2.70 and -245/3.00)

JHGFEDRobot variant

1862091,182.5167011352300IRB 6700 - 235/2.65

2091861,182.5167012802445IRB 6700 - 205/2.80

193197.51,142.5162311252276IRB 6700 - 200/2.60

1862091,592.5208011352300IRB 6700 - 175/3.05

1862091,592.5208012802445IRB 6700 - 150/3.20

193197.51,392.5187311252276IRB 6700 - 155/2.85




Continued

JHGFEDRobot variant

187222.51212.51718.511452321IRB 6700 - 300/2.70

186222.51462.51968.511452321IRB 6700 - 245/3.00

Note

For DressPack dimensions, seeDimensions for robot with DressPack on page114



1 Description1.1.3 Definition of version designationsContinued

Main dimensions of IRB 6700Inv

1009

377

D

830

200

E

AG

F

H

360

360

1009

B

C

J

xx1700000559

DescriptionPos

220 mm (all IRB 6700Inv variants)A380 mm (all IRB 6700Inv LeanID variants, option 780-4)

Radius ax1, front = 626 mmB

Radius ax1, back = 910 mmC

JHGFEDRobot variant

187222.51212.51718.511452372IRB 6700Inv - 300/2.60

186222.51468.51968.511452372IRB 6700Inv - 245/2.90




Continued

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 standards

Continued

1.3 Installation

1.3.1 Introduction to installation

GeneralIRB 6700 are designed for floor mounting (no tilting allowed around X-axis orY-axis). IRB 6700Inv are designed for inverted mounting (no tilting allowed aroundX-axis or Y-axis).Depending on the robot version, an end effector with max. weightof 150 to 300 kg including payload, can be mounted on the tool flange (axis 6). SeeLoad diagrams on page 32.

Extra loadsExtra load (valve packages, transformers, DressPack) of 50 kg, which is includedin the load diagrams, can be mounted on the upper arm. An extra load of 250 kgcan also be mounted on the frame of axis 1.See Fitting equipment to the robot on page 67.

Working range limitationThe working range of axes 1 can be limited by mechanical stops as option. SeeWorking range limitation on page 170.



1 Description1.3.1 Introduction to installation

1.3.2 Operating requirements

Protection standards

IEC 60529Robot version/Protection standard

IP67All variants, manipulator

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

Ambient temperature

TemperatureStandard/OptionDescription

Minimum: +5°C i (41°F)StandardManipulator during operationMaximum: +50°C (122°F)

SeeProduct specification - Control-ler IRC5

Standard/OptionFor the controller

+ 5°C (41°F) to + 45°C (113°F)StandardFor the spot welding cabinet

Minimum: -25°C (-13°F)StandardComplete robot during transporta-tion and storage, Maximum: +55°C (+131°F)

+70°C (+158°F)Standardfor short periods (not exceeding24 hours)i At low environmental temperature (below 10° C) a warm-up phase is recommended to be run with

the robot. Otherwise there is a risk that the robot stops or runs with lower performance due totemperature dependent oil and grease viscosity.

Relative humidity

Relative humidityDescription

Maximum 95% at constant temper-ature.

Complete robot during transportation and storage

Maximum 95% at constant temper-ature.

Complete robot during operation



1 Description1.3.2 Operating requirements

1.3.3 Assembling the manipulator

Maximum loadMaximum load in relation to the base coordinate system.

Floor mounted

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

±19.8 kN i / ±21.8 kN ii±7.4 kN i / ±8.7 kN iiForce xy

14.6 ±15.7 kN i / 18.0 ±17.4 kN ii14.6 ±4.5 kN i / 18.0 ±5.4 kN iiForce z

±37.1 kNm i / ±45.3 kNm ii±21.0 kNm i / ±24.9 kNm iiTorque xy

±11.4 kNm i / ±15.5 kNm ii±5.0 kNm i / ±6.5 kNm iiTorque zi Valid for IRB 6700-235, -205, -175, -150, -200, -155.ii Valid for IRB 6700-300, -245.

Inverted Mounted

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

±23.7 kN i±8.9 kN iForce xy

-22.1 ± 18.1 kN i-22.1 ±6.6 kN iForce z

±45.4 kNm i±22.5 kNm iTorque xy

±15.7 kNm i±6.5 kNm iTorque zi Valid for IRB 6700Inv-300, -245.

xx1300000242



1 Description1.3.3 Assembling the manipulator

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).

Fastening holes robot base - for all variants

D - D

8x 30

8x 53

4x 45 H7

4x

3x45

16

8x

49,5

0,3 A

0,12

A

800

4x 90°

52,5

°

4x 15°

D

D

E

E

2x 25 H8

20

(25

H8)

2x4

5°

24,5

2x

0,12

E - E

(A)

(A)

xx1300000243

DescriptionPos

Holes for guide pins (x2)A

Note

Holes for guide pins (x2) Rear hole straight slot, see Guide pins on page 28.




Continued

Fastener quality

M24 x 100 (installation on baseplate/foundation)

Suitable screws:

8.8Quality:

90% (v=0.9)Screw tightening yield point utilization factor (v)(according to VDI2230):

4 mm flat washerSuitable washer:

550 Nm (screws lubricated with Molykote1000)

Tightening torque:

600-725 Nm, typical 650 Nm (screws noneor lightly lubricated)

Note

Only two guide pins shall be used. The corresponding holes in the base plateshall be circular according to figure Base plate drawing on page 25.

AbsAcc performanceRegarding AbsAcc performance, the use of guide pins are mandatory.



1 Description1.3.3 Assembling the manipulatorContinued

Base plate drawing

Note

IRB 6700Inv is not valid for base plate.

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

12x M 24

3x 25

4x

15

° 4

x 2

5°

2x

7,5

°

37

,5°

4x

9

0°

80

0

540

47

5

10°

10

°

90° 9

0°

0

27

448

0

87

45

3

A

A

B

B

C C

D

E

E

Ref A-B

E-E

1 A B

HG

F E

4x

48

3x45

13

45 P7

--0,0170,042

A-A

1,6

1,5

A

2x 12H7 0

+0,018

2x 1x452x 18±

1 (H

7)

20±1

2

32 ±

1

M5

0,1 A B

D

(A)

(B)

0,2 Common Zone E, F, G, H

xx1500000246

DescriptionPos

Hole for guide pin, cylindrical, see Guide pins on page 28A, B

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

E, F, G, H




Continued

3x45

13

48

2

B-B

1,6

2x R

37

,5°

47 +

0,50

23,5

45

K7

+-

0,00

70,

018

D

CL 2x R22,5

B

3x R1

3x 90°

3x 4

C-C

xx1500000247




16x R 504x 18

2x

R52

5

50

x4

5°

(2x

) 00

00

672,5680,1

813,9784,8

2x 598

2x 298

215,9223,5

111,282,1

61

9

67

7

79

47

87

,6

2x

70

3

2x

20

3

92111,4

198,8214,1

681,9697,2

804784,6

2x

22

4,1

2x

27

8,3

2x

11

9,9

2x

13

2,8

87

27

87

27

5x M16

16x 22

(1020)

( 9

50

)

0

0

0

0

2x

27

1

2x

77

4

41

123

358

175

538

721

773

855896923 ±1

93

3±

1

2x

86

0

2x

72

6

2x

54

3

2x

36

3

2x

20

6

110

448

786

878

87±

18

7

27±127

50

18

69

2x

90

4

50

+-

31

xx1500000249

Color: RAL 9005Thickness: 80-100 µmWeight: 360 kg

A




Continued

Guide pins 25g6

12k6

18

1

5

(A)

XX1500000248

DescriptionPos

Cylindrical guide pin (x2)A

Assembly of guide pins

800

B B

B-B

(A)

(B)

(A)

DescriptionPos

Cylindrical guide pin (x2)A

M5 x 40. Tightening torque 6 Nm. (x2)B

Note

All screws and pins are delivered in a plastic bag together with the base plate.




1.4 Calibration and references

1.4.1 Fine calibration

GeneralFine calibration is made using the Calibration Pendulum, see Operatingmanual - Calibration Pendulum or Axis calibration, see Product manual - IRB 6700and Product manual - IRB 6700Inv.

(A)

(B)

(C)

(D)(E)

(F)

xx1300000244

Axes


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

Note

IRB 6700Inv is valid for field AbsAcc but does not have an AbsAcc option.

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 (working range ofbending backward robots, for example IRB 6700, are limited to only forwardpositions).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 parameters savedon the manipulator SMB) and a certificate that shows the performance (Birthcertificate). The difference between an ideal robot and a real robot without AbsAccmay reach up to 8 mm, resulting from mechanical tolerances and deflection in therobot structure.If there is a difference at first start-up between the calibration data in the controllerand the robot SMB, correct it by copying the data from the SMB to the controller.

Absolute Accuracy optionAbsolute Accuracy option is integrated in the controller algorithms for compensationof this difference and does not need external equipment or calculation.Absolute Accuracy is a RobotWare option and includes an individual calibrationof the robot (mechanical arm).



1 Description1.4.2 Absolute Accuracy calibration

Absolute Accuracy is a TCP calibration in order to reach a good positioning in theCartesian coordinate system.

xx1300002177

Product dataTypical production data regarding calibration are:

Positioning accuracy (mm)Robot

% Within 1 mmMaxAverage

1000.750.35IRB 6700-235/2.55

1000.750.35IRB 6700-205/2.80

1000.750.35IRB 6700-200/2.60

1000.750.35IRB 6700-175/3.05

1000.750.35IRB 6700-155/2.85

1000.750.35IRB 6700-150/3.20

1000.750.35IRB 6700-300/2.70

1000.750.35IRB 6700-245/3.00

1000.850.40IRB 6700 LeanID (allvariants)



1 Description1.4.2 Absolute Accuracy calibration

Continued

1.5 Load diagrams

1.5.1 Introduction

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 the service routine LoadIdentify is available, which allowsthe user to make an automatic definition of the tool and load, to determine correctload parameters.See Operating manual - IRC5 with FlexPendant, 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.




1.5.2 Diagrams

IRB 6700-235/2.65

0,00

0,10

0,20

0,30

0,40

0,50

0,60

0,70

0,80

0,10 0,20 0,30 0,40 0,50

200 m

mZ

- (

m)

L - (m)

120 kg

225 kg

190 kg

140 kg

165 kg

230 kg

235 kg

240 kg

245 kg

xx1300000245



1 Description1.5.2 Diagrams

IRB 6700-235/2.65 "Vertical Wrist" (±10o)

200 m

mZ

- (

m)

L - (m)

0,00

0,10

0,20

0,30

0,40

0,50

0,60

0,70

0,10 0,20 0,30 0,40 0,50 0,60 0,70

Z

L

10o

10o

275 kg

265 kg250 kg

235 kg 210 kg

xx1300000246

For wrist down (0o deviation from the vertical line).

Description

280 kgMax load

0.327 mZmax

0.100 mLmax



1 Description1.5.2 DiagramsContinued

IRB 6700-235/2.65 "LeanID", option 780-4

0,00

0,10

0,20

0,30

0,40

0,50

0,60

0,70

0,80

0,10 0,20 0,30 0,40 0,50 0,60

L - (m)

Z -

(m

) 3

50

mm

110 kg

130 kg

150 kg

175 kg

200 kg

220 kg

230 kg

225 kg

xx1300000248




Continued

IRB 6700-205/2.80

0,00

0,10

0,20

0,30

0,40

0,50

0,60

0,70

0,80

0,10 0,20 0,30 0,40 0,50

200 m

mZ

- (

m)

L - (m)

0,60

0,90

100 kg

205 kg

150 kg

125 kg

215 kg

210 kg

200 kg

195 kg

175 kg

xx1300000249





200 m

mZ

- (

m)

L - (m) Z

L

10o

10o

0,00

0,10

0,20

0,30

0,40

0,50

0,60

0,70

0,10 0,20 0,30 0,40 0,50 0,60 0,70

235 kg

195 kg

215 kg

225 kg

205 kg

xx1300000250


Description

240 kgMax load

0.355 mZmax

0.103 mLmax




Continued


35

0 m

m

0,00

0,10

0,20

0,30

0,40

0,50

0,60

0,70

0,80

0,90

0,10 0,20 0,30 0,40 0,50 0,60

90 kg

110 kg

130 kg

150 kg

175 kg

190 kg

195 kg

200 kg

205 kg

Z -

(m

)

L - (m)

xx1300000251




IRB 6700-200/2.60

200 m

m

Z -

(m

)

L - (m)

0,00

0,10

0,20

0,30

0,40

0,50

0,60

0,70

0,80

0,10 0,20 0,30 0,40 0,50

90 kg

110 kg

155 kg

180 kg

200 kg

205 kg

210 kg

130 kg

xx1300000333




Continued


200 m

m

Z -

(m

)

L - (m) Z

L

10o

10o

0,00

0,10

0,20

0,30

0,40

0,50

0,60

0,70

0,80

0,90

0,10 0,20 0,30 0,40 0,50 0,60 0,70 0,80 0,90

235 kg

220 kg

120 kg

160 kg

205 kg

xx1300000334


Description

242 kgMax load

0.27 mZmax

0.104 mLmax





35

0 m

m

L - (m)

Z -

(m

)

0,10

0,20

0,30

0,40

0,50

0,60

0,70

0,10 0,20 0,30 0,40 0,50

100 kg

190 kg

185 kg

175 kg

160 kg

140 kg

120 kg

xx1300000335




Continued

IRB 6700-175/3.05

200 m

mZ

- (

m)

L - (m)

0,00

0,10

0,20

0,30

0,40

0,50

0,60

0,70

0,80

0,90

0,10 0,20 0,30 0,40 0,50 0,60

150 kg

180 kg

175 kg

170 kg

165 kg

125 kg

100 kg

160 kg

xx1300000252





200 m

mZ

- (

m)

Z

L

10o

10o

0,00

0,10

0,20

0,30

0,40

0,50

0,60

0,70

0,80

0,90

0,10 0,20 0,30 0,40 0,50 0,60 0,70 0,80 0,90

200 kg

190 kg

180 kg

165 kg

140 kg

L - (m)

xx1300000253

Description

204 kgMax load

0.360 mZmax

0.101 mLmax




Continued


35

0 m

m L - (m)

Z -

(m

)

0,00

0,10

0,20

0,30

0,40

0,50

0,60

0,70

0,80

0,90

0,10 0,20 0,30 0,40 0,50 0,60 0,70

160 kg

155 kg

150 kg

100 kg

120 kg

140 kg

145 kg

85 kg

xx1300000254




IRB 6700-155/2.85

200 m

mZ

- (

m)

L - (m)

0,00

0,10

0,20

0,30

0,40

0,50

0,60

0,70

0,80

0,10 0,20 0,30 0,40 0,50

90 kg

155 kg

150 kg

145 kg

125 kg

105 kg

160 kg

xx1300000336




Continued


200 m

m

Z -

(m

)

L - (m) Z

L

10o

10o

0,00

0,10

0,20

0,30

0,40

0,50

0,60

0,70

0,80

0,10 0,20 0,30 0,40 0,50 0,60 0,70 0,80

180 kg

170 kg

130 kg

150 kg

160 kg

xx1300000337

Description

186 kgMax load

0.327 mZmax

0.101 mLmax





35

0 m

m L - (m)

Z -

(m

)

0,00

0,10

0,20

0,30

0,40

0,50

0,60

0,70

0,80

0,90

0,10 0,20 0,30 0,40 0,50

80 kg

100 kg

145 kg

140 kg

135 kg

130 kg

120 kg

xx1300000338




Continued

IRB 6700-150/3.20

200 m

mZ

- (

m)

L - (m)

0,00

0,10

0,20

0,30

0,40

0,50

0,60

0,70

0,80

0,90

1,00

1,10

0,10 0,20 0,30 0,40 0,50 0,60 0,70

155 kg

80 kg

100 kg

120 kg

140 kg

145 kg

150 kg

xx1300000255





200 m

mZ

- (

m)

L - (m)Z

L

10o

10o

0,00

0,10

0,20

0,30

0,40

0,50

0,60

0,70

0,80

0,90

1,00

1,10

0,10 0,20 0,30 0,40 0,50 0,60 0,70 0,80 0,90 1,00 1,10

170 kg

110 kg

140 kg

150 kg

160 kg

xx1300000256


Description

177 kgMax load

0.394 mZmax

0.106 mLmax




Continued


35

0 m

m L - (m)

Z -

(m

)

0,00

0,10

0,20

0,30

0,40

0,50

0,60

0,70

0,80

0,90

1,00

1,10

0,10 0,20 0,30 0,40 0,50 0,60 0,70 0,80

70 kg

90 kg

110 kg

130 kg

145 kg

140 kg

135 kg

xx1300000257




IRB 6700-300/2.70

220 m

mZ

- (

m)

L - (m)

0,00

0,10

0,20

0,30

0,40

0,50

0,60

0,70

0,80

0,90

0,10 0,20 0,30 0,40 0,50 0,60

150 kg

200 kg

230 kg

270 kg

290 kg

300 kg

310 kg

175 kg

xx1400002044




Continued


220 m

mZ

- (

m)

L - (m) Z

L

10o

10o

0,00

0,10

0,20

0,30

0,40

0,50

0,60

0,70

0,80

0,10 0,20 0,30 0,40 0,50 0,60 0,70 0,80

250 kg

290 kg

310 kg

350 kg330 kg

xx1400002045


Description

357 kgMax load

0.308 mZmax

0.102 mLmax





L - (m)

Z -

(m

) 3

80

mm

0,00

0,10

0,20

0,30

0,40

0,50

0,60

0,70

0,80

0,10 0,20 0,30 0,40 0,50 0,60

140 kg

250 kg

280 kg

290 kg

190 kg

165 kg

220 kg

270 kg

275 kg

285 kg

xx1400002046




Continued

IRB 6700-245/3.00

220 m

m

Z -

(m

)

L - (m)

0,00

0,10

0,20

0,30

0,40

0,50

0,60

0,70

0,80

0,90

1,00

0,10 0,20 0,30 0,40 0,50 0,60

255 kg

140 kg

225 kg

210 kg

170 kg

245 kg

250 kg

235 kg

xx1400002041





220 m

m L - (m)Z

L

10o

10o

0,00

0,10

0,20

0,30

0,40

0,50

0,60

0,70

0,80

0,90

1,00

1,10

1,20

0,10 0,20 0,30 0,40 0,50 0,60 0,70 0,80 0,90 1,00 1,10 1,20

Z -

(m

)

225 kg

185 kg

150 kg

250 kg

270 kg

xx1400002042


Description

315 kgMax load

0.280 mZmax

0.102 mLmax




Continued


L - (m)

Z -

(m

) 3

80

mm

0,00

0,10

0,20

0,30

0,40

0,50

0,60

0,70

0,80

0,90

0,10 0,20 0,30 0,40 0,50 0,60

225 kg

220 kg

215 kg

210 kg

205 kg

190 kg

170 kg

150 kg

130 kg

230 kg

xx1400002043




IRB 6700Inv-300/2.60

220 m

m

0.00

0.10

0.20

0.30

0.40

0.50

0.60

0.70

0.80

0.90

1.00

0.10 0.20 0.30 0.40 0.50 0.60

Z-

(m)

L - (m)

140 kg

170 kg

200 kg

230 kg

270 kg

290 kg

300 kg

310 kg

xx1600002017




Continued

IRB 6700Inv-300/2.60 "Vertical Wrist" (±10o)

0.00

0.10

0.20

0.30

0.40

0.50

0.60

0.70

0.80

0.10 0.20 0.30 0.40 0.50 0.60 0.70 0.80

Z-

(m)

L - (m)

Z

L

10o

10o

220 m

m

340 kg325 kg

310 kg

290 kg

250 kg

xx1600002018


Description

352 kgMax load

0.332 mZmax

0.105 mLmax




IRB 6700Inv-270/2.60 "LeanID", option 780-4

0.00

0.10

0.20

0.30

0.40

0.50

0.60

0.70

0.80

0.10 0.20 0.30 0.40 0.50 0.60

Z-

(m)

L - (m)

38

0 m

m

150 kg

170 kg

190 kg

220 kg

250 kg

270 kg

275 kg

280 kg

xx1600002050




Continued

IRB 6700Inv-245/2.90

0.00

0.10

0.20

0.30

0.40

0.50

0.60

0.70

0.80

0.90

0.10 0.20 0.30 0.40 0.50 0.60

Z-

(m)

L - (m)

220 m

m150 kg

180 kg

210 kg

225 kg

235 kg

245 kg

250 kg

255 kg

xx1600002019




IRB 6700Inv-245/2.90 "Vertical Wrist" (±10o)

Z

L

10o

10o

0.00

0.10

0.20

0.30

0.40

0.50

0.60

0.70

0.80

0.90

1.00

1.10

0.10 0.20 0.30 0.40 0.50 0.60 0.70 0.80 0.90 1.00 1.10

Z-

(m)

L - (m)

220 m

m

275 kg255 kg

235 kg

200 kg

160 kg

xx1600002020


Description

284 kgMax load

0.345 mZmax

0.101 mLmax




Continued

IRB 6700Inv-210/2.90 "LeanID", option 780-4

0.00

0.10

0.20

0.30

0.40

0.50

0.60

0.70

0.80

0.90

0.10 0.20 0.30 0.40 0.50 0.60 0.70

Z-

( m)

L - (m)

38

0 m

m120 kg

150 kg

180 kg

190 kg

200 kg

210 kg

215 kg

220 kg

xx1600002051




1.5.3 Maximum load and moment of inertia for full and limited axis 5 (center linedown) movement

Note

Total load given as: mass in kg, center of gravity (Z and L) in meters andmomentof inertia (Jox, Joy, Joz ) in kgm2 . L= sqr (X2 + Y2), see the following figure.

Full movement of axis 5 (±130o)

Maximum moment of inertiaRobot typeAxis

Ja5 = Load x ((Z + 0,200 i )2 + L2 ) + max (J0x, J0y) ≤ 250 kgm2IRB 6700-235/2.65IRB 6700-205/2.80

5

IRB 6700-175/3.05IRB 6700-150/3.20


Ja5 = Load x ((Z + 0,220 ii )2 + L2 ) + max (J0x, J0y) ≤ 325 kgm2IRB 6700-300/2.70IRB 6700-245/3.00IRB 6700Inv-300/2.60IRB 6700Inv-245/2.90

Ja6 = Load x L2 + J0Z ≤ 185 kgm2IRB 6700-235/2.65IRB 6700-205/2.80

6

IRB 6700-175/3.05IRB 6700-150/3.20


Ja6 = Load x L2 + J0Z ≤ 225 kgm2IRB 6700-300/2.70IRB 6700-245/3.00IRB 6700Inv-300/2.60IRB 6700Inv-245/2.90

i For option 780-4, LeanID = 0,350 mii For option 780-4, LeanID = 0,380 m

xx1400002028

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 for full and limited axis 5 (center line down) movement

Limited axis 5, center line down

Maximum moment of inertiaRobot typeAxis


5

IRB 6700-175/3.05IRB 6700-150/3.20


Ja5 = Load x ((Z + 0,220 ii )2 + L2 ) + max (J0x, J0y) ≤ 360 kgm2IRB 6700-300/2.70IRB 6700-245/3.00IRB 6700Inv-300/2.60IRB 6700Inv-245/2.90


6

IRB 6700-175/3.05IRB 6700-150/3.20


Ja6 = Load x L2 + J0Z ≤ 320 kgmIRB 6700-300/2.70IRB 6700-245/3.00IRB 6700Inv-300/2.60IRB 6700Inv-245/2.90

i For option 780-4, LeanID = 0,350 mii For option 780-4, LeanID = 0,380 m

xx1400002029

DescriptionPos

Center of gravityA

Description

Max. moment of inertia around the X, Y and Z axes at centerof gravity.

Jox, Joy, Joz



1 Description1.5.3 Maximum load and moment of inertia for full and limited axis 5 (center line down) movementContinued

1.5.4 Wrist torque

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. For finding the absolute limits of theload diagram, use the ABB RobotLoad. Contact your local ABB organization.

TorqueThe table below shows the maximum permissible torque due to payload.

Max torque valid atload

Max wrist torqueaxis 6

Max wrist torqueaxis 4 and 5

Robot type

225 kg650 Nm1324 NmIRB 6700-235/2.65

192 kg625 Nm1263 NmIRB 6700-205/2.80

175 kg429 Nm981 NmIRB 6700-200/2.60

154 kg589 Nm1179 NmIRB 6700-175/3.05

144 kg410 Nm927 NmIRB 6700-155/2.85

137 kg570 Nm1135 NmIRB 6700-150/3.20

280 kg865 Nm1825 NmIRB 6700-300/2.70

214 kg815 Nm1693 NmIRB 6700-245/3.00

280 kg865 Nm1,825 NmIRB 6700Inv-300/2.60

194 kg796 Nm1,645 NmIRB6700Inv-245/2.90



1 Description1.5.4 Wrist torque

1.5.5 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

2241IRB 6700 - 235/2.65

2445IRB 6700 - 205/2.8

2542IRB 6700 - 175/3.05

2447IRB 6700 - 150/3.2

2351IRB 6700 - 200/2.6

2947IRB 6700 - 155/2.85

2139IRB 6700 - 300/2.7

2744IRB 6700 - 245/3.0

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 Description1.5.5 Maximum TCP acceleration

1.6 Fitting equipment to the robot

GeneralExtra loads can be fitted on the upper arm housing, the lower arm, and on theframe. Definitions of distances andmasses are shown in the following figures. Therobot is supplied with holes for fitting extra equipment (see figure in Holes for fittingextra equipment on page 70). Maximum allowed arm load depends on center ofgravity of arm load and robot payload.

Note

All equipment and cables used on the robot, must be designed and fitted not todamage the robot and/or its parts.

Frame (hip load)Extra load can be fitted on the frame.

Description

JH = 100 kgm2Permitted extra load on frame

JH = JH0 + M4 x R2Recommended position (see the fol-lowing figure) where:

• JH0 is the moment of inertia of the equipment• R is the radius (m) from the center of axis 1• M4 is the total mass (kg) of the equipment

including bracket and harness (≤ 250 kg)



1 Description1.6 Fitting equipment to the robot

R

xx1300000262

Upper armAllowed extra load on the upper arm housing, in addition to the maximum handlingweight, is M1 ≤ 50 kg with a distance (a) ≤ 500 mm from the center of gravity in theaxis-3 extension.

a

(A)

M1

M1

xx1400002019

Mass centerA



1 Description1.6 Fitting equipment to the robotContinued

200

400(A)

xx1300000866

Center of gravity 50 kgA




Continued

Holes for fitting extra equipment

Position of attachment holes - drawing 1

0,3 80

16

0

3x M10

A

A

(2x M12)

(2x M12)

CL Axis 5

2x M8 16

80

40

100

CL Axis 3

4x M12 22

220

190

110

90

32

8

192x M12

197

M12 1922)106 (4x M12

53

52,5°

117R

13

4xM

8

M12 20

52,5°

H

H

(15

0)

(150)

(109)

JK

K

A - A

J

(2x M12 19) (M12 19)

CL Axis 4

B

B

A

B

E

L

H

J

M

K

C

D

F

G

12

N

B - B

xx1300000263

Allowed position for attachment holes, M12 through. Be careful not to touch the cables when drilling.A




NMLKJHGFEDCB iVariant

21010410233147349437365652.5400270R=216IRB 6700 - 235/2.65

21010410233147349437365652.5500270R=216IRB 6700 - 205/2.80

21010410233147349437365652.5400270R=216IRB 6700 - 175/3.05

21010410233147349437365652.5500270R=216IRB 6700 - 150/3.20

2109510243143315437365650.5400270R=204.5IRB 6700 - 200/2.60

2109510243143315437365650.5400270R=204.5IRB 6700 - 155/2.85

215.598.511712152405467376652.5450310R=230IRB 6700 - 300/2.70

215.598.511712152405467376652.5450310R=230IRB 6700 - 245/3.00

215.598.511712152405467425.6652.5450310R=230IRB 6700Inv - 300/2.60

215.598.511712152405467425.6652.5450310R=230IRB 6700Inv - 245/2.90i Smallest circumscribed radius axis-4.




Continued

Position of attachment holes - drawing 2

190

90

32

8

CL Axis 5

80

40

100

2x M8 12

B

D

C - C

(2x M

8)

(2x M

8)

A

F G

M

(2x M8)

(M8)

(2x M8)

20)(4x M10 456

B

C

D

B

D

C C

E

K

H

J

2x M8

M8

2x M8

265

465 30

377

50

25

4x M10 20

60

50 33

CL Axis 4

CL Axis 3

CL Axis 2

CL Axis 1

L

xx1300000264

MLKJHGFEDCBA iVariant

13.8500303.5320255186208.580403418433R=456IRB 6700 - 235/2.65

13.8500303.5320255186208.580408423438R=456IRB 6700 - 205/2.80

13.8500303.5320255186208.580403418433R=456IRB 6700 - 175/3.05

13.8500303.5320255186208.580408423438R=456IRB 6700 - 150/3.20

13.8500303.5320255193197113395410425R=440IRB 6700 - 200/2.60

13.8500303.5320255193197113395410425R=440IRB 6700 - 155/2.85

15523.5273.5350265187222.580423438453R=468IRB 6700 - 245/3.00

15523.5273.5350265187222.580423438453R=468IRB 6700 - 300/2.70

15523.5273.5350265187222.580423438453R=468IRB 6700Inv - 300/2.60




MLKJHGFEDCBA iVariant

15523.5273.5350265187222.580423438453R=468IRB 6700Inv - 245/2.90i Smallest circumscribed radius axis-3.




Continued

Tool flange, standardBelow is the standard tool flange. The guide pin hole is, in calibration position,pointing upwards in Z-direction.

221

01

12

3x R 0,8 -0,4+2

3x R0,8 0+1

1x45

45°

2,5

A 11x M12

18 H7 + 0,0180

28 + 20

25 min. (H

7)

30°

17

,4 m

in.

1

45°

24

+

20

(Cou

nter

bore

)

68,5

61

18 m

in.

23 m

ax.

B-B

CL C-D

1,6

0,2 A B

0,3 C D

0,2 C D B

12 H7 0+0,018

6x R11

3x R70

16

0

11x 30°

18°A

A

B

B

0,04 AB

1,6

16 ±1

0,5 45° X

M1

2

A-A

20

0h

8-0

,07

20

10

0H

70

+0

,03

5

0,0

2A

xx1300000280

Thread length: 18 mm.A

The turning disc for robot variants IRB 6700 - 200/2.60 and IRB 6700 - 155/2.85was redesigned when Axis Calibration was introduced for IRB 6700. Prior to AxisCalibration the holes on the disc were through. On the current turning disc theholes are not through.

Fastener qualityUse suitable screws and tightening torque for your application, screws with qualityclass 12.9 are recommended.




Tool flange, LeanIDBelow is the tool flange for option 780-4, LeanID. The guide pin hole is, in calibrationposition, pointing upwards in Z-direction.

C - C

A

160

12x 30°

C

C

1

2 H

71

5

11

xM

12

1

8

2

00

h8

8 ( 100 H7)

1x45

1

00

H7

0,0

7E

0,3

EF

F

E

xx1300000290

Thread length: 18 mm.A

Fastener qualityUse suitable screws and tightening torque for your application, screws with qualityclass 12.9 are recommended.




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 gearboxes.• The cabling is routed for longevity, and in the unlikely event of a failure, its

modular design makes it easy to change.

MaintenanceThe maintenance intervals depend on the use of the robot. The requiredmaintenance activities also depend on the selected options. For detailed informationonmaintenance procedures, see themaintenance section in Product manual - IRB6700 and Product manual - IRB 6700Inv.



1 Description1.7 Maintenance and troubleshooting

1.8 Robot motion

1.8.1 Robot motion

Type of motion

NoteRange of movement- IRB 6700Inv

Range of movement -IRB 6700

Type of motionAxis

±170°±170° or ±220° (option)Rotation motionAxis 1

±65° ii-65°/+85° iArm motionAxis 2

-180° ii /+70° ii-180°/+70°Arm motionAxis 3

±300°±300°Wrist motionAxis 4

±130° iii±130° iiiBend motionAxis 5

±360° iv±360° ivTurn motionAxis 6

Maximum value.±93.7 revolutions±93.7 revolutionsThe default working range foraxis 6 can be extended by chan-ging parameter values in thesoftware.Option 610-1 Independent axiscan be used for resetting the re-volution counter after the axishas been rotated (no need for"rewinding" the axis).

i Working range for variants IRB 6700 - 300/2.70 and - 245/3.00:+85° to -65° when axis 3 is within +70° to -45°+85° to -58° when axis 3 is within +70° to -180°

ii Working ranges of axis 2 and axis 3 are limited in some areas to avoid collision with balancing.iii Working range +120° to -120° for robots with LeanID, option 780-4.iv Working range +220° to -220° for robots with LeanID, option 780-4.



1 Description1.8.1 Robot motion

Working range axis 2 and axis 3 for IRB 6700-300/2.70 and -245/3.00Limited in some areas to avoid collision with balancing.

xx1700000509

Working range axis 2 and axis 3 for IRB 6700Inv-300/2.60 and -245/2.90Limited in some areas to avoid collision with balancing.

xx1700000510



1 Description1.8.1 Robot motionContinued

Working range axis 5 and axis 6 for LeanID, option 780-4Allowed working area for axis 6 related to axis 5 position is shown in the figurebelow.

xx1300001587




Continued

Working range

Reach (m)Handling capacity (kg)Robot type

2.65235IRB 6700

1187 920

1908 2650

3114

320

xx1300000281





2.80205IRB 6700

308

3259

1281

2039

958

2794

xx1300000282




Continued


2.60200IRB 6700

911 1150

1859 2601

3065

282

xx1300000341





3.05175IRB 6700

1527

2314

1109

3056

726

3520

xx1300000283




Continued


2.85155IRB 6700

1352

2106

994

2848

529

3312

xx1300000340





3.20150IRB 6700

1604

2445

1067

3200

713

3665

xx1300000284




Continued


2.70300IRB 6700

957 1187

1850 2720

31

54

3

49

xx1400001137





3.00245IRB 6700

2097

1518 1057

2967

59

6

33

99

xx1400001138




Continued


2.60300IRB 6700Inv

957

3204

1321

1812 2617

85

xx1700000557





2.90245IRB 6700Inv

2864

162

1057 2060

345

1

1518

xx1700000558




Continued

1.8.2 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


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

150/3.20175/3.05205/2.80235/2.65IRB 6700

0.050.040.060.03Pose accuracy, AP i (mm)

0.060.050.050.05Pose repeatability, RP (mm)

0.340.280.170.16Pose stabilization time, PSt (s) within0.4 mm of the position

1.61.91.51.7Path accuracy, AT (mm)

0.140.120.080.08Path repeatability, RT (mm)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.



1 Description1.8.2 Performance according to ISO 9283

245/3.00300/2.70155/2.85200/2.60IRB 6700

0.030.070.030.03Pose accuracy, AP i (mm)

0.050.060.080.05Pose repeatability, RP (mm)

0.140.110.190.21Pose stabilization time, PSt (s) within0.4 mm of the position

1.61.41.51.7Path accuracy, AT (mm)

0.120.070.090.11Path repeatability, RT (mm)i AP according to the ISO test above, is the difference between the teached position (positionmanually


245/2.90300/2.60IRB 6700Inv

0.060.06Pose accuracy, AP i (mm)

0.060.05Pose repeatability, RP (mm)

0.280.26Pose stabilization time, PSt (s) within 0.4 mm of theposition

1.61.6Path accuracy, AT (mm)

0.220.1Path repeatability, RT (mm)i AP according to the ISO test above, is the difference between the teached position (positionmanually




1 Description1.8.2 Performance according to ISO 9283

Continued

1.8.3 Velocity

Maximum axis speed

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

190 °/s120 °/s170 °/s90 °/s90 °/s100 °/sIRB 6700-235/2.65

190 °/s120 °/s170 °/s90 °/s90 °/s100 °/sIRB 6700-205/2.80

210 °/s150 °/s190 °/s110 °/s110 °/s110 °/sIRB 6700-200/2.60

190 °/s120 °/s170 °/s90 °/s90 °/s100 °/sIRB 6700-175/3.05

210 °/s150 °/s190 °/s110 °/s110 °/s110 °/sIRB 6700-155/2.85

190 °/s120 °/s170 °/s90 °/s90 °/s100 °/sIRB 6700-150/3.20

180 °/s110 °/s140 °/s90 °/s88 °/s100 °/sIRB 6700-300/2.70

180 °/s110 °/s140 °/s90 °/s88 °/s100 °/sIRB 6700-245/3.00

180 °/s110 °/s140 °/s90 °/s88 °/s100 °/sIRB 6700Inv-300/2.60

180 °/s110 °/s140 °/s90 °/s88 °/s100 °/sIRB 6700Inv-245/2.90

There is a supervision function to prevent overheating in applications with intensiveand frequent movements (high duty cycle).

Axis resolution0.001° to 0.005°.



1 Description1.8.3 Velocity

1.8.4 Robot stopping distances and times

IntroductionThe stopping distances and times for category 0 and category 1 stops, as requiredby EN ISO 10218-1 Annex B, are listed in Product specification - Robot stoppingdistances according to ISO 10218-1 (3HAC048645-001).



1 Description1.8.4 Robot stopping distances and times

1.9 Cooling fan for axis 1 motor

Option 87-1To be used to avoid overheating of motors and gears in applications with intensivemotion (high average speed and /or high average torque and/or short wait time)of axis 1.Valid protection for cooling fan is IP54. Fan failure stops the robot. The option isnot allowed to select when the robot is placed on a track motion, IRBT.To determine the use of cooling fan for axis 1 motor use the function GearboxHeat Prediction Tool in RobotStudio. Reliable facts for the decision of need forfan or not will be achieved by entering the ambient temperature for a specific cycle.Contact your local ABB organization.



1 Description1.9 Cooling fan for axis 1 motor

1.10 Servo gun

1.10.1 Introduction

GeneralThe robot can be supplied with hardware and software for control of the followingconfigurations:

• Stationary Gun• Robot Gun• Robot Gun and Track Motion• Track Motion

The specific parts related to the servo motor control for electrical welding gunsand for track motion configurations are shown in the conceptual pictures below.The major parts and required options are also stated in the configurations listsbelow each picture.The cables for control of the basic robot are shown in the pictures with dotted lines.




1.10.2 Stationary gun

General

xx1000000507

OptionsOptions according to the table below are required to complete the delivery. Forfurther details on each option see corresponding product specification.

Product specifica-tion

DescriptionOption

Stationary gun. This option includes cable G (7 mlength) for resolver signals from robot base (FB7)to stationary gun/axis 7.

785-5

Resolver connection, axis 7, on base.864-1

Product specifica-tion - ControllerIRC5

First additional drive. Drive unit for 7th axis withcorresponding cables assembled inside drive mod-ule.

907-1

Connection to first drive.786-1, -2, -3, -4Cable A (7-30m) between drivemodule and station-ary gun/axis 7 for servo drive power.

Product specifica-tion - ControllerIRC5

Spot 6. This option includes Spot Servo and SpotServo Equalizing.

635-6



1 Description1.10.2 Stationary gun

1.10.3 Robot gun

General

xx1000000506

OptionOptions according to table below are required to complete the delivery. For furtherdetails on each option see corresponding product specification.

Product specificationDescriptionOption

Robot gun. This option includes cables withinmanipulator for servo power signals (servogun/axis 7).

785-1

Product specifica-tion - Controller IRC5

First additional drive. Drive unit for 7th axis withcorresponding cables assembled inside drivemodule.

907-1

Connection to first drive. Cable A (7-30 m)between drive module and robot base for servodrive power.

786-1, -2, -3, -4


Spot 6, Spot Servo, or Spot Servo Equalizing.635-6



1 Description1.10.3 Robot gun

1.10.4 Robot gun and track motion

General

Axis 7

M

Drive

Module

B

SMB

Axis 8F

E

Control

Module

FB7

SMB

xx1000000505

OptionsOptions according to table below are required to complete the delivery. For furtherdetails on each option see corresponding product specification.


Product specifica-tion - IRBT4004/6004/7004

Robot Gun - Track Motion. This option in-cludes cables within manipulator for servopower signals (servo gun/axis 7).

785-1 +1002-2 i


Serial measurement box (SMB2, Split box)for distribution of servo power to axis 8.The box is placed on the track motion.

Track motion deliv-ery includes

Cables from serial measurement box to trackmotion.Cable B for servo power (1.5 m length).Connection to first and second drive.Cable E and F (7-22m) between drivemoduleand serial measurement box for dual servodrive power/resolver signals.


First additional drive. Drive unit for 7th axiswith corresponding cables assembled insidedrive module.

907-1


Second additional drive. Drive unit for 8thaxis with corresponding cables assembledinside drive module.

907-1

Product specifica-tion - Controller soft-ware IRC5

Spot 6, Spot Servo, or Spot Servo Equalizing.635-6

Resolver connection, axis 7, on base (FB7).864-1i To specify robot on track equipped with servo gun. Option 1002-2 from specification form for track

motion.



1 Description1.10.4 Robot gun and track motion

1.10.5 Track motion

GeneralThe robot can be supplied with a track motion, see Product specification - IRBT4004/6004/7004. For configuration and specification of hardware see the followingfigure.

SMB

Drive

Module

Control

ModuleMAxis 7

E

FB7

xx1000000504

OptionsOptions according to table below are required to complete the delivery. For furtherdetails on each option see corresponding product specification.



Serial measurement (SMB) in manipulator isused, together with option 864-1, FB7 for signalsto axis 7/Track motion.

Track motiondelivery in-cludes

Cable E for between Drive Module and trackmotion servo for drive power.

First additional drive. Drive unit for 7th axis withcorresponding cables assembled inside drivemodule.

907-1

Resolver connection, axis 7, on base (FB7).864-1



1 Description1.10.5 Track motion

This page is intentionally left blank

2 DressPack and SpotPack2.1 Introduction

2.1.1 Included options

DressPackIncludes options for upper arm, lower arm and floor pos C, D and E, see thefollowing figure. These are described separately below but are designed as acomplete package for various applications.The DressPack for the floor contains customer signals.The DressPack for upper and lower arm contains process cable packages includingsignals, process media (water and/or air) and power feeding (for spot weldingpower) for customer use.Necessary supports and brackets are also included.The routing of the process cable package on the robot is available in differentconfigurations.

Note

Include everywhere that this is also for IRB 6700Inv (e.g. "This is available forall IRB 6700 and IRB 6700Inv versions").



2 DressPack and SpotPack2.1.1 Included options

SpotPackThe package supplies the transformer gun/gripper with necessary media, such ascompressed air, cooling water and electrical power. It includes the above describedDressPack + Spot Welding cabinet, Water And Air unit pos A and F (if included)and software, see the following figure.

(A)

(F)

(C)

(D)

(E)

(B)

xx1300001588

DescriptionPos

SpotPack, spot welding cabinetA

Robot controller, (including 7th axis drive for servo gun)B

DressPack, floorC

DressPack, lower armD

DressPack, upper armE

SpotPack, water and air unitF



2 DressPack and SpotPack2.1.1 Included optionsContinued

2.1.2 Product range

DressPack solutions for different users needsThe different robot types can be equipped with the well integrated cable and hosepackages in the SpotPack or DressPack options. The DressPack is designed inclose conjunction with the development of the manipulator and is therefore wellsynchronized with the robot.As there is a big span between different users need of flexibility, depending of thecomplexity of the operation/wrist movements, there are two major levels of dresspack solutions available, see Figure below.

External

(MH)

Integrated

(MH/SW)

Complexity in

wrist movements

Performance/

Functionality

Lower flexibility demand

on production line

High flexibility demand

on production line

LeanID, MH/SW 6

MH 3

xx1300000285

IntegratedThis type of dress pack is intended for a production where there are many complexwrist movements and the need for flexibility in changing products is high.Available options are 798-3 and 780-4 for material handling/spot welding, the LeanIDconcept.

ExternalThis type of dress pack is recommended where there are less complexity in wristmovements. This normally occurs when there are not many different productsrunning in the production cell. This package requires more individual adjustmentto optimize towards robot program at set up.Available options are 798-3 and 780-3 for material handling.



2 DressPack and SpotPack2.1.2 Product range

2.1.3 Limitations of robot movements

GeneralWhen using DressPack options on the upper arm the robot movements will belimited.

• In bending backwards positions there are limitations due to interference withmanipulator or Water and Air unit (if such is mounted).

• Might restrict working range, seeWorking range axis 5 and axis 6 for LeanID,option 780-4 on page 79.

Note

For more detail information please contact Serop Product support/SEROP/ABB.E-mail address: [email protected]

Restrictions for LeanID, option 780-4Limitation for axis 5 and 6 depends on how the dress pack is assembled at the tooland how adjustment has been done.

Working rangeAxis

120o to -120oAxis 5

220o to -220oAxis 6



2 DressPack and SpotPack2.1.3 Limitations of robot movements

2.1.4 Impact on DressPack lifetime

GeneralThere are some robot movements/positions that shall be avoided in the robotproduction program. This will improve the lifetime significantly of external upperarm DressPack and wear parts e.g. protection hose, hose reinforcement andprotective sleeves.

• The axis 5 movement is not allowed to press the DressPack against the robotupper arm.

• Combined rotation of the wrist axes must be limited so that the DressPackis not wrapped hard against the upper arm.

See the Product Manual for more detailed information and recommended set-upadjustments.



2 DressPack and SpotPack2.1.4 Impact on DressPack lifetime

2.1.5 Information structure

GeneralThe information for SpotPack and DressPack is structured in the following way.The SpotPack and DressPack can be delivered in five versions developed for twodifferent applications. Each type is described in a separate section.

DescriptionOptionSection

DressPack includes general description DressPack withcommon information.

DressPack2.2

Material handling application / DressPack


DressPack for Material Handling.Type H2.3

SpotPack for handling the part against electrical servodriven transformer guns stationary mounted.

Type Hse

Spot welding application / SpotPack and DressPack


SpotPack for electrical servo driven transformer gunscarried by the robot manipulator.

Type Se2.4

Spot welding cabinet


Includes general description of Spot Welding cabinetwith common information.

SpotWeldingCabin-et

2.5

Water and air unit


Includes general description of Water and Air unit withcommon information.

Water and Air unit2.6

Connector kits


Includes general description of connector kits for Spot-Pack and DressPack.

Connector Kits2.7



2 DressPack and SpotPack2.1.5 Information structure

2.2 DressPack

2.2.1 Introduction

Available DressPack configurations for Material HandlingThe table below shows the different DressPack configurations available for MaterialHandling.

Upper armLower arm

Option 780-3, Axis 3 to 6Option 798-3, Base to axis 3Option 778-1,External routingMaterial Handling

Option 780-4, Axis 3 to axis 6(LeanID)Internal routing

Available DressPack configurations for Spot WeldingThe table below shows the different DressPack configurations available for SpotWelding.

Upper armLower arm

Option 780-4, Axis 3 to axis 6(LeanID)

Option 798-3, Base to axis 3External routing

Option 778-2,Spot Welding

Internal routing



2 DressPack and SpotPack2.2.1 Introduction

2.2.2 Built-in features for upper arm DressPack

ExternalMaterial handling (option 780-3):

• Internal routing through the rear part of the upper arm.• Protection hose can easily be replaced if damaged.• One version for all IRB 6700 versions and all IRB 6700Inv versions.• Adjustment for optimal hose/cable lengths.

InternalSpot Welding and Material handling (option 780-4):

• Partly internal routing through the upper arm.• Suitable for complex movements.• High demands for flexibility and accessibility.• Longer lifetime.• Predictable movements.• Easy exchange of DressPack.



2 DressPack and SpotPack2.2.2 Built-in features for upper arm DressPack

2.2.3 Interface descriptions for DressPack

GeneralBelow is an overview showing the different DressPack options connection points,and their locations. For detailed information see the circuit diagram, and Productmanual - DressPack/SpotPack IRB 6700.

(B)

(C)

(A)

xx1300000224

OptionsDescriptionLocationPos

864-1, 798-3FB7, CP/CS/CBUSBaseA

798-3CP/CS/CBUSAxis 3B

780-3, 780-4CP/CS/CBUS, WELDAxis 6C



2 DressPack and SpotPack2.2.3 Interface descriptions for DressPack

BaseMaterial handling (option 798-3), see figure below:

• Included are: A, B (if applicable), one D (Proc 1) and E (if applicable).Spot welding (option 798-3), see figure below:

• Included are: A, B (if applicable), C, D (Proc 1-4) and E (if applicable).

(A) (C)

(D)

(B)

(E)

xx1000000619

For corresponding parts of the tool, see Connection kits on page 159.

DescriptionPos

R1.CP/CSA

R1.SP (Spot Welding Servo gun) or FB7 (Resolver connection)B

R1.WELD 3x35mm2 . (Spot Welding)C

R1.PROC 1 (Material Handling/Spot Welding 1/2”, M22x1.5, 24 degree seal)DR1.PROC 2 - 4 (Spot Welding 1/2”, M22x1.5, 24 degree seal)

R1.ETHERNET (M12 connector, when EtherNet communication is selected)E



2 DressPack and SpotPack2.2.3 Interface descriptions for DressPackContinued

Axis 3Material Handling (option 798-3), see figure below:

• Included are: A, B/G (if applicable) and one C (Proc 1).Spot welding (option 798-3), see figure below:

• Included are: A, D, B/E/F/G (if applicable) and C (Proc 1-4).

(D)

(A)

(E) (B) (F)

(G)

(C)

R2.SP

R2.PROC1

R2.FB

R2.CP/CS R2.ETHERNET R2.CBUS

R2.PROC4 R2.PROC3 R2.PROC2

xx1200000072

For corresponding parts of the tool, see Connection kits on page 159.

DescriptionPos

R2.CP/CSA

R2.ETHERNET (M12 connector, when EtherNet communication is selected)B

R2.PROC 1 (Material Handling 1/2”, M22x1.5, 24 degree seal)CR2.PROC 2-4 (Spot Welding 1/2”, M22x1.5, 24 degree seal)

R2.WELD 3x35mm2 (Spot Welding)D

R2.FB7E

R2.SP (Spot Welding Servo gun)F

R2.CBUS (UTOW connector when Profibus or DeviceNet communication isselected)

G




Continued

Axis 6

ExternalMaterial handling (option 780-3), see figure below:

• Hose and cable free length, min. 1000 mm.• Air hose ends with free end.

The cable ends with a connector, the main parts are described in the list below(for corresponding parts of the tool, see Connection kits on page 159):

xx0900000728

EtherNet connectorMaterial handling (option 780-3), see figure below:

• Cable free length, min. 1000 mm.• Signals are connected with a M12 connector.

The different main parts within the connector are described in the list below, bothwith name and Harting article number (for corresponding parts of the tool, seewithin the Harting product offer).

Harting articleName

21 03 882 1405PIN connector, R3.ETHERNET

61 03 000 0094PIN

3HAC033600-001 ABB articleSealing cap M12x1

xx1100000956



2 DressPack and SpotPack2.2.3 Interface descriptions for DressPackContinued

IntegratedMaterial Handling/Spot Welding option 780-4 (LeanID), see figure below:

• Hose and cable free length, min. 1160 mm.• Hoses and weld power cable (only for spot welding) end with free end.

The cable ends with connectors, for corresponding parts of the tool, seeConnectionkits on page 159 and within the UTOW product offer.

(B) (F) (E)(G)(A)

(C)(D)

xx1200000117

DescriptionPos

R3.CP/CS (UTOW connector 26p) Customer signals and powerA

R3.ETHERNET (M12 connector) EtherNet signals (when EtherNet communic-ation is selected)

B

R3.PROC 1-2 (1/2”, freeend) R3.PROC 2-4 (3/8”, free end) Media hosesC

R3.WELD 3x25mm2 (Free end) Spot Welding powerD

R3.FB7 (M23 connector 17p) Servo motor feedback (when Spot WeldingServo gun is selected)

E

R3.SP (M23 connector 8p) Servo motor power (when Spot Welding Servogun is selected)

F

R3.CBUS (UTOW connector 10p) BUS signals (when Profibus or DeviceNetcommunication is selected)

G




Continued

2.2.4 Dimensions

Dimensions for robot with DressPackDimensions are shown in figures below.

323 520

xx1300000286

Axis 3 to axis 6 (option 780-3)

650 360

580

600120

xx1300000287

Base to axis 3 + Axis 3 to axis 6 (option 798-3 + 780-4)



2 DressPack and SpotPack2.2.4 Dimensions

2.3 Type H/HSe

2.3.1 Introduction

GeneralVariant Type H is designed for Material Handling (MH) application and Hse tohandling parts against a stationary Spot Welding gun (pneumatic or servocontrolled). Included modules are shown in Figure below.

(A)

(B)

(C)

(D)

(E)

(G)

(H)

(F)

xx1300002178

NamePos

For type HSeSpot Welding cabinetA

Incl. 7:th axis drive for servo gun, HSeRobot Cabinet IRC5B

DressPack, FloorC

DressPack, Lower armD

Water and Air unit with hosesE

For type H and HSeDressPack, Upper armF

Robot GripperG

Pneumatic or servo controlled and HSeStationary gunH

Available configurations with linked option numbers are described below.




Option description

DescriptionTypeOption

Floor cables and connections inside the I/O sectionfor the DressPack are chosen. The length and con-figuration of the floor harness is specified under theoptions below.

Connection to cabinet16-1

Option 94-X for parallel communication.Option 90-X for parallel communication and field buscommunication with Can/DeviceNet.Option 92-X for parallel communication and field buscommunication with Profibus.

Offers the signal cables needed for parallel commu-nication in lower and upper arm DressPack. To becombined with option 94-X.

Parallel communication455-1

Offers the signal cables needed for the combinationof parallel and bus communication in lower and up-per arm DressPack. To be combined with option 90-X or 92-X.

Parallel andBus communic-ation

455-4

Offers the signal cables needed for the bus commu-nication in lower and upper arm DressPack. To becombined with option 859-X. Requires selection ofoption 94-X.

Parallel and Ethernet com-munication

455-8

The available alternatives and allowed combinations are shown in the schematicFigures below.

Option 778-1Option 94-XOption 455-1Applicatioon Inter-face connected to Material HandlingCable length,Parallel communicationOption 16-1, Cabinet Parallel communication

Option 90-XOption 455-4Option 92-XParallel and bus commu-

nication Cable length, Paralleland bus communication

Option 859-XOption 455-8Cable length, Ethernetcommunication

Parallel and Ethernetcommunication

DressPack

Upper armLower arm

Option 780-3, Axis 3 to 6Option 798-3, Base to axis 3Option 778-1.External routingMaterial Handling

Option 780-4, Axis 3 to 6Internal routing



2 DressPack and SpotPack2.3.1 IntroductionContinued

2.3.2 Configuration result for Type H HSe

GeneralDepending on the choice of options above the DressPackwill have different content.The choice of routing will not affect the content. See tables for signal content below.

DressPack Type H/HSe. Parallel communication• Option 16-1 with Connection to cabinet• (Option 94-X to specify cable length)• Option 455-1. Parallel communication• Option 778-1. Material Handling• Option 798-3. Internal routing, DressPack Lower arm

One of the options:• Option 780-3 (and Option 798-3). External routing• Option 780-4 (and option 798-3) Internal routing

The table below shows the available type of wires/media.

Allowed capacityCable/partarea

At connectionpoint. Base, Ax-is 3 or axis 6

At terminalsin cabinet

Type

Customer Power (CP)

250 VAC, 5 A rmsi

0.75 mm22+22+2Utility Power

250 VAC i0.75 mm21Protective earth

Customer Signals (CS)

50 V DC, 1 A rms0.2 mm212 (6x2) ii12Signals twisted pair

50 V DC, 1 A rms0.2 mm28 (4x2)8Signals twisted pair andseparate shielded

Media

Max. air pressure16 bar/230 PSI

12.5 mminner dia-meter

1Air (PROC 1)

i For option 780-3 50 VAC / 60 VDC.ii For option 780-3 8 signals.



2 DressPack and SpotPack2.3.2 Configuration result for Type H HSe

DressPack Type H/HSe. Parallel and field bus communication, Can/DeviceNet• Option 16-1 with Connection to cabinet• (Option 90-X to specify cable length)• Option 455-4. Parallel and bus communication• Option 778-1 Material Handling• Option 798-3. Internal routing, DressPack Lower arm

One of the options:• Option 780-3 (and Option 798-3). External routing• Option 780-4 (and option 798-3). Internal routing



At Connectionpoint. Base, Ax-is 3 or axis 6


Type

Customer Power (CP)

250 VAC, 5 A rmsi

0.75 mm22+22+2Utility Power





Customer bus (CBus)

Can/DeviceNetspec

0.14 mm22At bus boardBus signals

50 V DC, 1 A rms0.2 mm22At bus boardBus signals

Media



1Air (PROC 1)

i For option 780-3 50 VAC / 60 VDC.ii For option 780-3, 8 signals instead of 12.



2 DressPack and SpotPack2.3.2 Configuration result for Type H HSeContinued

DressPack Type H/HSe. Parallel and field bus communication, Profibus• Option 16-1 with Connection to cabinet• (Option 92-X to specify cable length)• Option 455-4. Parallel and bus communication• Option 778-1. Material Handling• Option 798-3. Internal routing, DressPack Lower arm




At connectionpoint. Base, Ax-is 3 or axis 6


Type

Customer Power (CP)

250 VAC, 5 A rmsi

0,75 mm22+22+2Utility Power

250 VAC i0,75 mm21Protective earth


50 V DC, 1 A rms0,2 mm212 (6x2) ii12Signals twisted pair

50 V DC, 1 A rms0,2 mm28 (4x2)8Signals twisted pair andseparate shielded

Customer bus (CBus)

Profibus 12 Mbit/sspec

0,14 mm24At bus boardBus signals

Media


12,5 mminner dia-meter

1Air (PROC 1)

i For option 780-3 50 VAC / 60VDC.ii For option 780-3, 8 singals instead of 12.




Continued

DressPack Type H/HSe. Parallel and field bus communication, Ethernet• Option 16-1 with Connection to cabinet• (Option 859-X to specify cable length)• (Option 94-X to specify cable length)• Option 455-8. Parallel and Ethernet communication• Option 778-1. Material Handling• Option 798-3. Internal routing, DressPack Lower arm




At connectionpoint. Base,Axis 3 or axis 6

At termin-als in cabin-et

Type

Customer Power (CP)

250 VAC, 5 A rms i0.75 mm22+22+2Utility Power





Customer bus (Ethernet)

Ethernet CAT 5e, 100Mbit iii

0.4 mm244Bus signals

Media

Max. air pressure 16bar/230 PSI


1Air (PROC 1)

i For option 780-3 50 VAC / 60 VDC.ii For option 780-3, 8 signals instead of 12.iii Ethernet with wire colors according to PROFINET standard, M12-connectors.




Required general options for Type HSeTo enable the SpotPack IRB 6700 to perform as intended, general standard robotoptions are required. These standard options are further described under otherchapters and are also mentioned in this chapter.

• Option 727-1. 24V 8 Amps power supply• Option 635-6. Spot. Software option for pneumatic guns

Required additional options for servo gun Type HSeTo enable the spot welding function package SpotPack IRB 6700 to run with aservo controlled gun, some additional (additional to those described in Requiredgeneral options for Type HSe on page121) servo drive options are required. Thesestandard options are described under other chapters and are alsomentioned belowin this chapter.

• Option 907-1. First additional drive• Option 864-1. Resolver connection, axis 7• Option 785-5. Stationary gun• Option 786-1,-2,-3,-4. Connection to first drive (Cable length to be stated)• Option 635-6. Spot 6

Also option 630-1, Servo tool change, should be used if servo gun tool change isrequired.

Required Spot Welding cabinet options for Type HSeThe SpotPack IRB 6700 also requires a Spot Welding cabinet (option 768-4) toperform as intended. Weld timer brand and weld capacity are stated by choosingthe variant. Additional features could then be added to the cabinet variant. All theseoptions are further described under Spot Welding cabinet on page143 but are alsomentioned in this chapter.

xx1000000381




Continued


This option gives a basic Spot Welding cabinetequipped with a weld timer fromBoschwith an integ-rated inverter with basic capacity. Type Bosch PSI61C0.751OEM.

Bosch MFDC ProfiNet782-13

Additional options to the Spot Welding cabinet are mentioned below. For furthertechnical details as well as restrictions in combinations see Spot Welding cabineton page 143


Offers a cooling fan with housing placed on the rearof the Spot Welding cabinet which forces air on thecooling surface/grids of the thyristor or MFDC invert-er.

Forced air cooling788-1

Offers an earth fault protection integrated with thecircuit breaker for the weld power.

Earth fault protection unit789-1

Offers a weld contactor with necessary wiring placedinside the Spot Welding cabinet.

Contactor for weld power790-1

Offers floor cable of 7 m length for weld power.Weld power cable, 7 m791-1


Offers floor cable of 7 m length for process signalsbetween the Spot Welding cabinet and to the station-ary gun.

Process cable to stationarygun, 7 m

809-1

Offers floor cable of 15 m length for process signalsbetween the Spot Welding cabinet and to the station-ary gun.

Process cable to stationarygun, 15 m

809-2

Offers additional functionality for adaptive weldingregulation. Only possible with option 782-11.

Bosch Adaptive control858-1




2.3.3 Interface description for stationary gun

GeneralThe interface towards the stationary gun includes 3 common parts and 2 extra forservo gun.Common parts:

• Signal interface with a signal connector type modular Harting(Cable option 809-1, -2).

• Power cable with a Multi Contact interface (Cable option 791-1 or option791-2)(Ending Multi contact type MC TSB 150/35).

• Water and air connections made by the customer directly on the water andair unit. SeeWater and air unit on page 151.

Extra for servo gun:• Servo power cable (Option 786-1,-2,-3 or -4). Cable goes from robot control

cabinet to stationary gun and ends with a 23 pin Souriau connector (TypeUT 061823SH).

• Resolver signal cable, 7 m length (included in option 785-5). Cable goes fromrobot foot R3.FB7 to stationary gun and ends with 8 pin Souriau connector(Type UT 06128SH)

The connector configurations are described in the circuit diagram.The Harting connector is shown below. The differentmain parts within the connectorare showed both with name and Harting article number. Corresponding parts atthe tool are available within the Harting product offer.

Harting article No.Name

09 30 010 0543Hood

09 14 010 0303Hinged frame, hood

09 14 025 3101Multicontact, female (HD)

09 14 012 3101Multicontact, female (DD)

09 14 008 3101Multicontact, female (EE)

For the contacts above corresponding female crimp-contacts for the different cablediameters are required.



2 DressPack and SpotPack2.3.3 Interface description for stationary gun

Required Water and Air unit options for Type HSeThe SpotPack IRB 6700 also requires Water and Air unit options to perform asintended. These options are further described underWater and air unit on page151and are also mentioned in this chapter.

xx1700001596

xx1700001597



2 DressPack and SpotPack2.3.3 Interface description for stationary gunContinued


Offers the basic water and air unit for type HS includ-ing splitbox for signal distribution.

Water and Air unit, type HS792-2

Offers an additional water return circuit.Second water return793-1

Offers floor cable of 7 m length for signals betweenthe cabinet and to the split box placed on the waterand air unit.

Cable to split box, 7 m797-1









2 DressPack and SpotPack2.3.3 Interface description for stationary gun

Continued

2.3.4 Summary common options Type H HSe

GeneralThe following options are theminimum required to form a complete SpotPack TypeH/HSe:

• Option 16-1. Connection to cabinet (Cable length and communication typeto be stated)

• Option 455-1, 455-4 or 455-8. Parallel, Parallel and Bus communication orEtherNet (Communication type to be stated)

• Option778-1. Material Handling• Option 798-3. DressPack Lower arm (Routing type to be stated)• Option 780-3, -4. DressPack Upper arm (Routing type to be stated)



2 DressPack and SpotPack2.3.4 Summary common options Type H HSe

2.3.5 Summary options required for Type HSe

General options• Option 727-1. 24V 8 Amps power supply• Option 635-6. Spot (only for type HS)

Servo gun• Option 907-1. First additional drive• Option 785-5. Stationary gun• Option 786-1. Connection to first drive (other lengths available)• Option 635-6. Spot 6

Spot Welding cabinet• Option 768-4. Spot Welding large• Option 782-13. Weld timer capacity• Option 791-1. Power cable 7 m (other lengths available)• Option 809-1. Process cable to stationary gun (other lengths available)

Water and air unit• Option 792-2. Water and air unit, Type HS• Option 797-1. Splitbox cable 7 m. (other lengths available)

Other described options depend on specific system need and performance.



2 DressPack and SpotPack2.3.5 Summary options required for Type HSe

2.4 Type Se

2.4.1 Introduction

GeneralVariant Type Se is designed for robot handled servo-controlled tool (electrical gun).Included modules are shown in Figure below. Available configurations with linkedoption numbers are described below.

(A)

(B)

(C)

(D)

(E)

(F)

xx1300002179

NamePosition

Spot Welding cabinetA

Robot Cabinet IRC5 (including 7th axis drive), SeB

DressPack, FloorC

DressPack, Lower armD

DressPack, Upper armE

Water and Air unit with hosesF

Available configurations with linked option numbers are described below. To achivethe specific servo motor connections within the DressPack for Type Se option785-1 Robot gun must also to be chosen. See Robot gun on page 97 for details.




Option description


Floor cables and connections inside the I/Osection for the DressPack are chosen. The lengthand configuration of the floor harness is specifiedunder the options below.

Connection to cabinet16-1

Option 94-X for parallel communicationOption 90-X for parallel communication and fieldbus communication with Can/DeviceNetOption 92-X for parallel communication and fieldbus communication with Profibus

Offers the signal cables needed for parallelcommunication in lower and upper armDressPack. To be combined with option 94-X.

Parallel communication455-1

Offers the signal cables needed for the combin-ation of parallel and bus communication incombination in lower and upper arm DressPack.To be combined with option 90-X or 92-X.

Parallel and Bus communica-tion

455-4

Offers the signal cables needed for the Ethernetcommunication in combination in lower and up-per arm DressPack. To be combined with option859-X. Requires selection of option 94-X.

Parallel and Ethernet455-8

Option 778-2,Option 94-XOption 455-1, Parallelcommunication

Application Interfaceconnected to Spot WeldingCable length, Parallel

communicationOption 16-1, Cabinet

Option 90-XOption 455-4, Paralleland Bus communica-tion

Option 92-XCable length, Paralleland Bus communica-tion

Option 859-XOption 455-8, Paralleland Ethernet commu-nication

Cable length, Ethernetcommunication

DressPack

Upper armLower arm

Option 780-4, Axis 3 to 6Option 798-3, Base to axis 3Option 778-2Internal routingExternal routingSpot Welding




Continued

2.4.2 Configuration result for Type Se

GeneralDepending on the choice of options above (combined with option 785-1 Robot gun)the DressPack will have different content. The choice of routing will not affect thecontent. See tables for signal content below.

DressPack Type Se. Parallel communication• Option 16-1 with Connection to cabinet• (Option 94-X to specify cable length)• Option 455-1. Parallel communication• Option 778-2. Spot Welding• Option 798-3. External routing, DressPack Lower arm

and:• Option 780-4 (and Option 798-3). Internal routing, DressPack Upper arm

The table below shows the available type of wires/media for type S.


At connectionpoint. Base, ax-is 3 or axis 6


Type S

Customer Power (CP)

250 VAC, 5 A rms0.75 mm22+22+2Utility Power

250 VAC0.75 mm21Protective earth


50 V DC, 1 A rms0.2 mm212 (6x2)12Signals twisted pair


Media

Max. air pressure16 bar/ 230 PSI

12.5 mminner

4Water/Air (PROC 1-4)

Max. water pres-sure 10 bar/ 145PSI

diameter i

Welding power (WELD)

600 VAC, 150 Arms at 20°C (68°F)

35 mm2 ii2Lower and Upper arm

1Protective earth (Lower andUpper arm)i For LeanID 2x1/2" + 2x3/8", only upper armii For LeanID upper arm 25 mm2 , only upper arm, 135 A rms



2 DressPack and SpotPack2.4.2 Configuration result for Type Se

The table below shows the available type of wires/media for type Se.


At connectionpoint. Base, ax-is 2/3 or axis 6


Type Se

Customer Power (CP)






Servo motor signals

600 VAC, 12 A rms1.5 mm23At driveServo motor power

600 VAC1.5 mm21At driveProtective earth

50 V DC, 1 A rms0.23 mm26-Signals twisted pair for re-solver

50 V DC, 1 A rms0.23 mm22-Brake

50 V DC, 1 A rms0.23 mm22-Temperature control/PTC

Media

Max. air pressure16 bar/ 230 PSI.

12.5 mminner dia-meter i


Max. water pres-sure 10 bar/ 145PSI


600 VAC,35 mm2 ii2Lower and Upper arm150 A rms at 20°C(68°F)1Protective earth (Lower and

Upper arm)i For LeanID 2x1/2" + 2x3/8", only upper armii For LeanID upper arm 25 mm2 , only upper arm, 135 A rms




Continued

DressPack Type Se. Parallel and field bus communication, Can/DeviceNet• Option 16-1 with Connection to cabinet• (Option 90-X to specify cable length)• Option 455-4. Parallel and bus communication• Option 778-2. Spot Welding• Option 798-3. External routing, DressPack Lower arm

and:• Option 780-4 (and option 798-3). Internal routing, DressPack Upper arm





Type S

Customer Power (CP)



Customer signals (CS)



Customer bus (CBus)

Can/DeviceNetspec



Media




Max. water pres-sure 10 bar/145PSI.






2 DressPack and SpotPack2.4.2 Configuration result for Type SeContinued





Type Se

Customer Power (CP)






Customer bus (CBus)

Can/DeviceNetspec



Servo motor signals






Media

Max. air pressure16 bar/230 PSI.










Continued

DressPack Type Se. Parallel and field bus communication, Profibus• Option 16-1 with Connection to cabinet• (Option 92-X to specify cable length)• Option 455-4. Parallel and bus communication• Option 778-2. Spot Welding• Option 798-3. External routing, DressPack Lower arm

and:• Option 780-4 (and option 798-3). Internal routing, DressPack Upper arm





Type S

Customer Power (CP)

250 VAC, 5 A rms0,75 mm22+22+2Utility Power

250 VAC0,75 mm21Protective earth


50 V DC, 1 A rms0,2 mm212 (6x2)12Signals twisted pair


Customer bus (CBus)


0,14 mm24At bus boardBus signals

Media


12,5 mminner dia-meter i





Upper arm)i For LeanID 2x1/2" + 2x3/8", only upper armii For LeanID upper arm 25 mm2 , only upper ar, 135 A rms








Type Se

Customer Power (CP)

250 VAC, 5 A rms0,75 mm22+22+2Utility Power

250 VAC0,75 mm21Protective earth


50 V DC, 1 A rms0,2 mm212 (6x2)12Signals twisted pair


Customer bus (CBus)


0,14 mm26 (3x2)At bus board6

Bus signals

Servo motor signals

600 VAC, 12 A rms1,5 mm23At driveServo motor power

600 VAC1,5 mm21At driveProtective earth

50 V DC, 1 A rms0,23 mm26-Signals twisted pair for re-solver

50 V DC, 1 A rms0,23 mm22-Brake

50 V DC, 1 A rms0,23 mm22-Temperature control/PTC

Media


12,5 mminner dia-meter i









Continued

DressPack Type Se. Parallel and field bus communication, Ethernet• Option 16-1 with Connection to cabinet• (Option 859-X to specify cable length)• (Option 94-X to specify cable length)• Option 455-8. Parallel and Ethernet communication• Option 778-2. Spot Welding• Option 798-3. External routing, DressPack Lower arm

and:• Option 780-4 (and Option 798-3). Internal routing, DressPack Upper arm





Type S

Customer Power (CP)







Ethernet CAT 5e,100 Mbit i


Media


12.5 mminner dia-meter ii




600 VAC,35 mm2 iii2Lower and Upper arm150 A rms at 20°C(68°F)1Protective earth (Lower and

Upper arm)i Ethernet with wire colors according to PROFINET standard, M12-connectors.ii For LeanID 2x1/2" + 2x3/8"iii For LeanID upper arm 25 mm2 , 135 A rms






At connectionpoint. Base, ax-is 2/3 or axis 6


Type Se

Customer Power (CP)




50 V DC, 1 A rms0.2 mm212(6x2)12Signals twisted pair



Ethernet CAT 5e,100 Mbit i


Servo motor signals






Media


12.5 mminner dia-meter ii




600 VAC,35 mm2 iii2Lower and Upper arm150 A rms at 20°C(68°F)1Protective earth (Lower and

Upper arm)i Ethernet with wire colors according to PROFINET standard, M12-connectors.ii For LeanID 2x1/2" + 2x3/8"iii For LeanID upper arm 25 mm2 , 135 A rms




Continued

Required general options for Type SeTo enable the SpotPack IRB 6700 to perform as intended, general standard robotoptions are required. These standard options are further described under otherchapters and are also mentioned in this chapter.

• Option 727-1. 24V 8 Amps power supply• Option 635-6. Spot. Software option for pneumatic guns

Required options for servo gun, type SeTo enable the spot welding function package SpotPack IRB 6700 to run with aservo controlled gun, some additional (additional to those described in Requiredgeneral options for Type Se on page 138) servo drive options are required. Thesestandard options are described under other chapters and are alsomentioned belowin this chapter.

• Option 907-1. First additional drive• Option 864-1. Resolver connection, axis 7• Option 785-1. Robot Gun• Option 786-1,-2,-3,-4. Connection to first drive (Cable length to be stated)• Option 635-6. Spot 6.

Also option 630-1, Servo tool change, should be added if servo gun tool changeis required.

Required Spot Welding cabinet options for Type SeThe SpotPack IRB 6700 also requires a Spot Welding cabinet (option 768-4) toperform as intended. Weld timer brand and weld capacity are stated by choosingthe variant. Additional features could then be added to cabinet variant. All theseoptions are further described under SpotWelding cabinet on page143 and are alsomentioned in this chapter.

xx1000000381





This option gives a basic Spot Welding cabinetequipped with a weld timer fromBoschwith an integ-rated inverter with basic capacity. Type Bosch PSI61C0.751OEM.

Bosch MFDC ProfiNet782-13

Additional options to the Spot Welding cabinet are mentioned below. For furthertechnical details as well as restrictions in combinations see Spot Welding cabineton page 143


Offers a cooling fan with housing placed on the rearof the Spot Welding cabinet which forces air on thecooling surface/grids of the thyristor or MFDC invert-er.

Forced air cooling788-1

Offers an earth fault protection integrated with thecircuit breaker for the weld power.

Earth fault protection unit789-1

Offers a weld contactor with necessary wiring placedinside the Spot Welding cabinet.

Contactor for weld power790-1

Weld power cable, 7 mWeld power cable, 7 m791-1


Offers additional functionality for adaptive weldingregulation. Only possible with option 782-11.

Bosch Adaptive control858-1




Continued

Required Water and Air unit options for Type SeThe SpotPack IRB 6700 also requires Water and Air unit options to perform asintended. These options are further described underWater and air unit on page151and are also mentioned in this chapter.

xx1700001596

xx1700001597





Offers the basic water and air unit for type S includingsplitbox for signal distribution.

Water and Air unit, type S792-1

Offers an additional water return circuit.Second water return793-1












Continued

2.4.3 Summary common options for Type Se

GeneralThe following options are theminimum required to form a complete SpotPack TypeS/Se:

• Option 16-1. Connection to cabinet, (Cable length and communication typeto be stated)

• Option 455-1, 455-4 or 455-8. Parallel, Parallel and Bus communication orEtherNet (Communication type to be stated)

• Option 778-2. Spot Welding• Option 798-3. External routing, DressPack Lower arm• Option 780-4 Internal routing, DressPack Upper arm

General options• Option 727-1. 24V 8 Amps power supply• Option 635-6. Spot. (only for type S)

Servo gun type Se• Option 907-1. First additional drive• Option 785-1. Robot Gun• Option 786-1,-2,-3,-4. Connection to first drive (cable length to be stated)• Option 635-6. Spot 6

Spot Welding cabinet• Option 768-4. Spot Welding large• Option 782-13. Weld timer capacity• Option 791-1. Power cable 7 m (other length available)

Water and air unit• Option 792-1. Water and air unit, Type S• Option 797-1. Splitbox cable 7 m (other lengths available)

Other described options depend on specific system need and performance.



2 DressPack and SpotPack2.4.3 Summary common options for Type Se

2.5 Spot Welding cabinet

2.5.1 Introduction to Spot Welding cabinet

GeneralThe Spot Welding cabinet for SpotPack contains the electric components andcircuits needed for spot welding application. The Spot Welding cabinet, with thewelding controller build in, is controlled from the robot controller via the processorsoftware. The capacity and functionality depends on the choice of different optioncombinations.The Spot Welding cabinet is designed to be placed on top of the robot controllercabinet (Single cabinet version option 700-3), see Figure below. This is also howit is assembled at delivery.

A

C

B

xx1600000525

Spot welding cabinet, mounted on IRC5 controllerA



2 DressPack and SpotPack2.5.1 Introduction to Spot Welding cabinet

Spot welding cabinet, standing on the floorB

IRC5 controllerC

There are interface cables between the robot controller cabinet and the SpotWelding cabinet (cable length 1.5 m, connected at rear of the control cabinet andat front of Spot Welding cabinet). These cables includes power feeding for controlcircuits, process signals to the welding gun, safety signals, communication towardsweld timer and I/O:s for indication and control. Depending on chosen options wiringwill differ (see option descriptions below for further details).The Spot Welding cabinet has the following common main features.

• Modular build for easy repair and installation (see Figure below)• Rotary switch with adjustable thermal release and short circuit release• Cross connection of signal handling with separate fusing for different circuits

to achieve selectivity• Programmable weld timer with proportional valve control• A compact cabinet family based on a common platform prepared for additional

options and for easy exchange

Note

Dimensions of the large cabinet within brackets.

xx1700001386



2 DressPack and SpotPack2.5.1 Introduction to Spot Welding cabinetContinued

Weld power circuitThe electrical circuits of the Spot Welding cabinet consists of weld power circuitand control circuits to control the welding. The welding power for the welding gunis fed through a circuit breaker and inverter (for MFDC welding) and further out tothe welding power cable. The cabinet is prepared for power feeding from the flooror from top. The welding power cable (outgoing feeding) is connected, via cablegland, directly to terminals inside the Spot Welding cabinet.The circuit breaker has a built in thermal release that could be adjusted for customerspecific needs to protect welding equipment and to get selectivity in the powercircuit. The thermal release is set at 100 A at delivery. The maximum level shouldnot exceed 100 A.

Control CircuitsPower feeding 240/115 V AC and 24V DC for the control circuits is fed from therobot controller cabinet. Also, the safety circuits in the robot controller cabinet areused to interlock the welding timer.A welding timer (Bosch), integrated with the air cooled inverted, controls the weldingcurrent. The welding timer includes control program that gives possibility to programdifferent weld sequences. The programming is normally done on a programmingdevice or a PC that is connected directly to the welding timer. The interface betweenthe robot system and the welding timer is handled via a field bus interface (ProfiNet).Examples of signals are weld start, weld ready, weld programs choice and errorhandling.Also, cross connections, of interface signals and interlocking between the robotsystem (I/O-boards), the water and air unit, signals to DressPack or stationary gun,are done within the Spot Welding cabinet.Programming device for the welding timer is not included in the delivery.If the option 744-1 is chosen there will follow a door interlock with the SpotWeldingcabinet.

Note

For more information see:• Product manual for DressPack/SpotPack• Circuit diagrams• Separate manuals for the Bosch equipment

The welding capacity as well as the weld timer brand described below. Additionalfeatures could then be added to each of the cabinet variants.




Continued

Option 782-13 Bosch MFDC ProfiNetThis option gives a basic Spot Welding cabinet equipped with a weld timer fromBosch with an integrated inverter with basic capacity.

General technical data

IECTechnical data

Bosch PSI 61C0.751OEMWeld timer and inverter

3x70 mm2Max wire range, incoming power

400-480 V ACPower feeding

110 A rms, 20 kA weld currentMax welding current

IP54Protection class

Specific technical data large cabinet

IECTechnical data

100 A (adjustable) 70-100 AMain breaker (ABB Sace XT1), thermalrelease

36 kAMain breaker, magnetic release




Option 788-1 Forced air coolingOffers a cooling fan with housing placed on the rear of the Spot Welding cabinetwhich forces air on the cooling surface/grids of the thyristor or MFDC inverter (seepictures below). Cabling to the fan goes via a cable gland at the rear of the SpotWelding cabinet. The fan runs continuously when the welding system is poweredup.The fan is required to be used together with Bosch MFDC (option 782-13).

xx0900000746

Option 789-1 Earth fault protection unitOffers an earth fault protection integrated with the circuit breaker for the weldpower. If an earth fault occurs the circuit breaker is tripped.




Continued

Option 790-1 Contactor for weld powerOffers a weld contactor with necessary wiring placed inside the Spot Weldingcabinet. The contactor is mounted after the inverter and opens up the weld circuitout from the cabinet. It is recommended to be used for increasing safety or whenusing tool change for weld guns. The contactor is open when the robot system isin motor off mode or when an specific I/O is set.

A

xx0900000747

DescriptionPos

Weld contactorA

Option 791-1 Weld power cable, 7 mOffers floor cable of 7 m length for weld power (3x35 mm2). One end of the weldpower cable is connected at terminal to the weld timer (Bosch) or the contactor(when option 790-1 is chosen). The cable enters the SpotWelding cabinet cia cablegland. The other end is equippedwith anMC connector TSB160/35 and is connectedat either the manipulator base (for robot gun Type S or Se) or to the stationary gun(for Type HSe).

Option 791-2 Weld power cable, 15 mOffers floor cable of 15 m length for weld power (3x35 mm²). See option 791-1 forfurther details.

Option 809-1 process cable to stationary gun, 7 mOffer floor cable of 7m length for process signals between the SpotWelding cabinetand the stationary gun. This option also includes internal cross connections betweenI/O, weld timer and power feeding etc.One end of the process cable enters the Spot Welding cabinet via cable gland andis connected at Phoenix terminals. The other end is equipped with a HD Harting 3modules and is connected to the stationary gun (for Type HSe).




Option 809-2 process cable to stationary gun, 15 mOffer floor cable of 15 m length for process signals between the Spot Weldingcabinet and the stationary gun. See option 809-1 for further details.




Continued

2.5.2 Interface description for spot welding cabinet

GeneralThe interface towards the Spot Welding cabinet is described in the tables below.

Connections for Spot Welding cabinet

Allowed capacitySpecificationPcsType

400-480 VAC,1Incoming power fromline i Max. 100 A rms, 50/60 Hz

Max. 150 A rms, 50/60 HzCable gland (min 24mm /max28 mm cable diameter)

1Outgoing power torobot

Max. 600 VAC,35 mm22Floor cable150 A rms at + 20°C (68°F)ambient temperature

Max. 600 VAC,35 mm21Floor cable protect-ive earth 150 A rms at + 20°C (68°F)

ambient temperaturei Incoming power connection made by customer. For incoming power and safety recommendations

see Product manual - DressPack/SpotPack IRB 6700.

Connections for Signals

Allowed capacitySpecificationPcsType

24 V DC, Max 0.5 A / outputModular Harting connector,type DD

1Water and air unit(on IRC5, option782-13)

24 V DC, Max 0.5 A / outputCable gland1Stationary gun (onIRC5, option 782-13)customer plate

See interface descriptionStationary gun type HSe



2 DressPack and SpotPack2.5.2 Interface description for spot welding cabinet

2.6 Water and air unit

2.6.1 Introduction

GeneralThe Water and Air unit contains components for water and air distribution andcontrol within the SpotPack. The water and air unit is controlled from the robotcontroller via the process software. Wiring is made via the Spot Welding cabinet.The capacity and functionality depends on the choice of different optioncombinations, see water and air unit options under this chapter.The unit is only used for the spot welding application

The water and air unitThe Water and Air unit has the following main features (see figure below):

• Adjustable, high speed water flow sensors.• Adjustable digital pressure switch for air.• Air filter with auto draining.• Possibility to balance water flow for complete package and for individual

circuits.• Preparation for additional options and preparation for easy exchange of

complete unit or separate circuits.• Equipped with extra (plugged) air outlets.

xx1700001596

The standard water and air unit consists of four main assemblies.• Water in circuit




• Water return circuit• Air supply circuit• Split box

Cables and hoses required for Water and Air unit are defined and described undereach option for water and air unit.

Water in circuitThe function of the water in circuit is to open / close the cooling water supply tothe Spot welding gun (see figure below). An air operated 2 port valve is used. Thevalve is controlled by a 3 port direct operated valve that is controlled by a digitalsignal from the robot control system. The circuit from left to right begins with aG1/2" thread used for the connection of the factory water supply system and endswith a male M22 x 1.5. (Suitable for a Swivel nut adapter DIN 20 078 A, werecommend a Parker 39C82-15-8BK fitting). From this point the water is led to thegun/robot base.

xx0900000749

Water return circuitThe water return circuit monitors the flow of the returning cooling water from theSpot welding gun (see figure below). The flow switch detects if the water flow istoo low in the cooling water circuit.The flow switch gives a digital signal to the robot control system, whichautomatically shuts off the electrical shut off valve in the water in circuit if the flowis too low.The system and the supply of cooling water are then automatically stopped tominimize risk of damage to the system.The water return circuit is delivered with a pre-set flow limit, set to 8 liters perminute at 0.2 MPa water pressure.The water return circuit begins from right with a Swivel Nut adapter (suitable for aSwivel nut adapter 20 078 A, we recommend a Swivel nut adapter 39C82-15-8BKfitting).




It is also equipped with a flow control valve; the flow control can adjust the waterflow to the desired flow level. The flow rate can be monitored by the scale on theflow control valve. The scale can be rotated so that easy reading can be performed.This will serve as a rough function check in the flow range between 1 to 8 litresper minute.The flow control valve is when delivered adjusted for maximum flow.The circuit ends with a check-valve that will stop any reversing water flow and endswith an internal G ½" thread. From this point the water is led to the factory watersystem.

xx0900000750

A second water return, option 793-1, is also available with the same specificationas above.

Air supply circuitThe air supply circuit provides the function package with filtered air (see figurebelow).The air supply circuit begins with a internal G ½" thread, manually operated shutoff valve with residual pressure release though a silencer, air filter with nominalfiltration of 5 µm with a metal protection of the bowl, a digital pressure switch anda cross interface containing plugged air outlet ports (internal G 3/8" thread).There is a digital pressure switch to monitor the air pressure and to give a signalto the control system if the pressure becomes too low.The pressure switch is delivered with pre-set pressure limit. There is a lower limitset to 5 bar which means customer needs to provide at least 6 bar to overcomethe 1 bar pressure drop over the air preparation unit.




Continued

The air supply circuit ends with a Swivel Nut adapter (suitable for a Swivel Nutadapter 20 078 A, we recommend a Parker 39C82-15-8BK fitting).

xx0900000751




Split box/Connection boxWith the split box, the 24VDC supply and signals are connected and distributed tothe different units on the water and air unit, see figure below. The design makesdisconnection of separate items for service and repair on the water and air unitvery easy. The split box has a protection class IP67, whichmeans it is well protectedagainst dust and water leakage.

xx0900000752




Continued

MountingType S, robot mounted spot welding gun, is mounted at the robot at factory andwater and air hoses are included and connected to the robot base.

xx0900000754

Type HS, robot handles part against a pedestal mounted spot welding gun, theWater and Air panel is delivered in a box together with the robot.

Signals for water and air unitElectrical connections to robot I/O board are made via the Split box on the Waterand Air unit or to connection box at robot base (the figure below shows Split box,for connection box see the circuit diagram).8 x M12 connections (4 pins) are available. The number in use depends on optionchoices. But at least two are free connection and can be used for customerpurposes.The Split box has six connections prepared for the following units:

• 1. Electric water shut off valve• 2. Pressure switch• 3. Flow switch 1• 4. Flow switch 2 (Option 793-1 Second Water Return)• 5. Proportional valve: Prop. ref. signal & pressure OK signal• 6. Proportional valve: Power supply




The cable and cable length between the Split box and the Spot Welding cabinetmust be specified (see option 797-1,-2,-3,-4). See the circuit diagram.


The basic water and air unit for type S is equippedfor a robot handled gun and with the following com-ponents:

Water and Air unit, type S792-1

Water in circuitWater return circuitAir supply circuitSplit box1/2 " hose between air supply circuit andmanipulatorbase (PROC 1) i1/2 " hose between water in circuit and manipulatorbase (PROC 2) i1/2 " hose between water return circuit and manipu-lator base (PROC 3) i

The basic water and air unit for type HS is equippedfor a pedestal/stationary gun.

Water and Air unit, type HS792-2

Hoses between water and air unit, welding equip-ment and robot are not supplied. These have to bearranged by the customer. i

The option adds an additional water return circuit.Second water return793-1See Water return circuit.An additonal 1/2” water hose (PROC 4) from theWater and Air unit to manipulator base is included.

Offers floor cable of 7 m length for signals to thesplit box placed on the water and air unit. This cableis connected to the cabinet with a modular Hartingand it ends with a quick connector at the split box.


Offers floor cable of 15 m length for the split box.See description of option 797-1.






i For IRB 6700Inv hoses and adapter are not supplied. These have to bearranged by the customer.




Continued

2.6.2 Technical data

Media interface descriptionThe interface towards the Water and Air unit is described in table below.

SpecificationPcsType

G 1/2” thread i1Incoming water

G 1/2” thread (M22 x 1.5) i1Outgoing water

G 1/2” thread i1Incoming air

G 3/8” thread ii1Extra air outleti Connection to be made by customer.ii Plugged at delivery (to be used for tip-dresser or other equipment).

General data

DescriptionWater

Max. 0.6 MPa / 87PSIOperating pressure

1.2 MPa / 174 PSIProof pressure

< 0.2 MPa at 8 litre/minute iMaximum pressure drop

1 - 16 l/minFlow regulating (each circuit)

140-170 mesh, 100 μmWater qualityi The pressure drop is measured under the following conditions:

• Measuring point 1: Incoming water connection at water and air unit.• Measuring point 2: Outgoing water connection at water and air unit.

The water hoses (Proc 2 and Proc 3) are cross-connected at the end at axis 6 (thepressure drop is measured without any tool).

DescriptionAir

Max. 1.0 MPa / 145 PSIOperating pressure

Approximately 4000 litres/min. (at 0.7 MPa with a 0.1MPa pressure drop

Flow capacity

0.100 - 1.000 MPaPressure switch set range

Use clean air.Air qualityWhen there is excessive condensate, install a devicethat eliminates water such as dryer or water separator(Drain Catch) on the inlet side of the air filter.



2 DressPack and SpotPack2.6.2 Technical data

2.7 Connection kits

GeneralFor detailed information on connection location see Interface descriptions forDressPack on page 109Below is an example of how a connector kit and its parts can look like.

xx1300000223



2 DressPack and SpotPack2.7 Connection kits

2.7.1 Base - Connector kits

Available options

DescriptionResolver conn., axis 7DressPack options

864-1798-3NameOption

XCP/CS, Proc 1 on base459-1

XFB 7453-1

Note

Ethernet and Servo power connection kits not available.

Option 459-1, CP/CS, Proc 1 on baseR1. CP/CS and Proc 1 on base for option 798-3.This option offers a kit with connectors. This must be assembled by the customer.The kit contains:

• 1 Hose fittings (Swivel nut adapter, (½”, M22x1,5 Brass, 24 degree seal))• Connector with:

HAN EMC / M 401 pcs Hood Foundry (Harting)

Shell size 161 pcs Hinged frame (Harting)

Type HD (25 pin)2 pcs Multicontact, female (Harting)

Type DD (12 pin)1 pcs Multicontact, female (Harting)

Type EE (8 pin)1 pcs Multicontact, female (Harting)

For 1,5 mm210 pcs Female crimp contacts




For 0,14– 0,37 mm212 pcs Female crimp contacts

For 0,2– 0,56 mm245 sockets

Assembly Accessories to complete connector

Assembly instruction



2 DressPack and SpotPack2.7.1 Base - Connector kits

Option 453-1, FB 7R3. FB 7 on base for option 864-1This option offers a kit with a connector. This must be assembled by the customer.The kit contains:

• Connector with:

UTOW1 pcs Multiple connector (pin)

8 pin1 pcs Adaptor

for 0,13-0,25 mm28 pcs Pin





2 DressPack and SpotPack2.7.1 Base - Connector kits

Continued

2.7.2 Axis 3 - Connector kits

Available options

DescriptionDressPack options

798-3NameOption

UTOWXCP/CS,CBUS/SP/SSProc 1 axis 3

458-1

Option 458-1, CP/CS/CBus/SP/SS, Proc 1 axis 3CP/CS/CBus/SP/SS, Proc 1 axis 3 on tool side for option 780-3 and 780-4.This kit offers a kit with connectors to be mounted at toolside of axis 3.This must be assembled by the customer.The kit contains:

• 1 Hose fitting (Parker Push lock (1/2”, M22x1,5 Brass, 24 degree seal))• Connector with:

CP/CS

UTOW71626PH05, Shell size 161 pcs UTOW Pin connector 26p, bulkhead

RM18W3K, 0.21-0.93 mm226 pcs Pin

CBUS

UTOW71210PH05 Shell size 121 pcs UTOW Pin connector 10p, bulkhead

RM18W3K, 0.21-0.93 mm210 pcs Pin

Ethernet

Harting 2103 881 pcs Socket connector M12

Harting 61 03 0, 0.13-0.33 mm24 pcs Socket

SP (Servo Power)

1 pcs Bulkhead contact M23

AWG 24-174 pcs Crimp pin 1 mm


SS (Servo Signal)


AWG 28-2017 pcs Pin





2 DressPack and SpotPack2.7.2 Axis 3 - Connector kits

2.7.3 Axis 6 - Connector kits

Available options

Description

780-4(LeanID)

780-3(MH 3)

NameOption

UTOWXXCP/CS/CBUS/SP/SS Proc 1 axis 6543-1

MC, Seperateconductors

XWeld Proc 1-4 axis 6452-1

Option 543-1, CP/CS/CBus/SP/SS, Proc 1 axis 6CP/CS/CBus/SP/SS, Proc 1 axis 6 on tool side for option 780-3 and 780-4.This kit offers a kit with connectors to be mounted at toolside of axis 6.This must be assembled by the customer.The kit contains:

• 1 Hose fitting (Swivel nut adapter (1/2”, M22x1,5 Brass, 24 degree seal))• Connector with:

CP/CS

UTOW71626PH05, Shell size 161 pcs UTOW Pin connector 26p, bulkhead

RM81W3K, 0.21-0.93 mm226 pcs Pin

CBUS

UTOW71210PH05 Shell size 121 pcs UTOW Pin connector 10p, bulkhead

RM18W3K, 0.21-0.93 mm210 pcs Pin

Ethernet

Harting 2103 881 pcs Socket connector M12

Harting 61 03 0, 0.13-0.33 mm24 pcs Socket

SP (Servo Power)




SS (Servo Signal)


AWG 28-2017 pcs Pin





2 DressPack and SpotPack2.7.3 Axis 6 - Connector kits

Option 452-1, Weld, Proc 1-4 axis 6Weld and Proc 1-4 axis 6 on manipulator side for option 780-4The process cable package from axis 6 ends with free end for media and for weldpower cable. The option 452-1 offers a kit for connectors. This must be assembledby the customer when hoses and power cable has been cut to required length.The kit contains:

• 4 Hose fittings (Swivel Nut adapter, (2 x ½”, M22x1,5) and (2x 3/8", M16x1.5))• 1 Multi contact connector (Female) type including:• 1 pc Welding connector 3x25 mm2

Diameter 24-28 mm1 pc Cable gland

0,21-0,93 mm21 pc End housing

PG36/PG291 pcs Reducing coupling





2 DressPack and SpotPack2.7.3 Axis 6 - Connector kitsContinued

3 Specification of variants and options3.1 Introduction to variants and options

GeneralThe different variants and options for the IRB 6700 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.



3 Specification of variants and options3.1 Introduction to variants and options

3.2 Manipulator

Variants

Reach (m)Handling capacity (kg)IRB TypeOption

2.652356700435-111

2.802056700435-112

3.051756700435-113

3.201506700435-114

2.602006700435-115

2.851556700435-116

2.703006700435-126

3.002456700435-127

2.603006700Inv435-138

2.902456700Inv435-139

Manipulator color

NoteDescriptionOption

ABB Orange standard209-1

ABB White standard209-2

Standard colorABB Graphite White standard209-202

Colors according to RAL-codes209-4 --192

Note

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

Protection types

NoteProtection typeOption

IP67Standard287-4

See Protection type Foundry Plus 2 on page 9 for a com-plete description of protection type Foundry Plus 2.

Foundry Plus 2287-3

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



3 Specification of variants and options3.2 Manipulator




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

Warranty for DressPack

Note

Option 780-3 upper arm DressPack HM3 is not covered by warranty.

Note

Option 780-4 DressPack LeanID is covered by the warranty.



3 Specification of variants and options3.2 Manipulator

Continued

3.3 Equipment

General


A safety lamp with an orange fixed light can be mountedon the manipulator. The lamp is active in MOTORS ONmode. The safety lamp is required on a UL/UR approvedrobot.

Safety lamp213-1

Lifting device on the IRB 6700 floor standing manipulatorfor fork-lift handling.

Fork lift device IRB6700 i

159-1

Note. When Cooling Fan for axis 1 motor unit is used, thismust be disassembled in order to use fork lift device.

For IRB 6700Inv hoses and adapter are not supplied. Thesehave to be arranged by the customer.

Fork lift device IRB6700Inv i

159-2

Can also be used for IRB 7600. See Installation on page20,for dimension drawing. ii

Base plate37-1

For in use recommendations see Cooling fan for axis 1motor on page 94.

Cooling fan for axis1 motor (IP54)

87-1

Not for protection Foundry Plus. Not together with trackmotion.

See Figure in Upper arm cover on page 169.Upper arm covers430-1Included in protection Foundry.

For a more accurate marking of the synchronization posi-tion of the robot. Assembly instructions are included.

Labels for synchron-ization markings

804-1

See Figure for Synchronize labels, Axis 1 - 6.i Its recommended to remove the fork lift devices after useii Can not be used for IRB 6700Inv.

Synchronization labelsThe option contains labels for each axis. Below is an example of the synchronizationlabels.

xx1300001127



3 Specification of variants and options3.3 Equipment

Upper arm cover

(A)

xx1400002039

DescriptionPos

Option 430-1A

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.

Resolver connection, axis 7


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

Foundry Plus Cable GuardThe manipulator cables are equipped with an additional protection of aluminizedleather against e.g. aluminium spits and flashes and chips frommachining. Processcable for material handling from base to axis 3, option 798-3 has the sameprotection.


For extra protection of cables.Foundry Plus CableGuard

908-1Requires option 287-3 Foundry Plus.




Continued

Working range limitationTo increase the safety of the robot, the working range of axis 1 can be restrictedby extra mechanical stops.


Two stops which allow the working range to be restrictedin increments of 15o .

Axis 1, 15 degrees29-1

(A)(B)

xx1400002035

DescriptionPos

Two mechanical stopsA

Bolt tightening torque: 60 NmB

Extended working range


To extend the working range on axis 1 from ± 170°to ±220°.

Extended workrange axis 1

561-1

When the option is used the mechanical stop shall be dis-assembled.EPS (Electronic Position Switches) functionality (option810-1 or -2) is required. i

i This option is not available for IRB 6700Inv.

Standard calibration method


Preferred standard calibration method. Robust, highperformance axis calibration using only mechanicalcalibration stops and software.

Axis calibration1999-1



3 Specification of variants and options3.3 EquipmentContinued


Previous standard calibrationmethod only to be usedin special cases if customers would like to harmonizecalibration with already installed base. i

Calibration Pendulum1999-2

i This option is not available for IRB 6700Inv

Note

The calibration methods are not interchangeable.




Continued

3.4 Floor cables

GeneralAdditional floor cables for SpotPack options, seeSpotPack Floor Cables on page178.

Manipulator cable length

LengthsOption

7 m210-2

15 m210-3

22 m210-4

30 m210-5



3 Specification of variants and options3.4 Floor cables

3.5 Process DressPack

Connection to

DescriptionConnection toOption

The signals CP/CS are connected to 12-pole screw terminals,Phoenix MSTB 2.5/12-ST-5.08, in the controller. The cablebetween R1.CP/CS and the controller is supplied. For inform-ation about the limited number of signals available, see TypeH/HSe on page 115, and Type Se on page 128.

Cabinet16-1

Communication


Includes customer power CP, customer signals CS.Parallel commu-nication

455-1

Includes CP, customer signals and CAN/DeviceNet or Profibusfor process cable package.

Parallel and buscommunication

455-4

Includes CP, customer signals and PROFINET or Ethernet/IPfor process cable package

Parallel andEther-net communica-tion

455-8



3 Specification of variants and options3.5 Process DressPack

3.6 DressPack floor cables

Connection to Parallel/CAN DeviceNet/Profibus/EthernetFollowing information specifies the cable length for Parallel,CANDeviceNet/Profibus/Ethernet for connection to cabinet.

DescriptionLengthsOption

7 m90-2/92-2

15 m90-3/92-3

22 m90-4/92-4

30 m90-5/92-5



3 Specification of variants and options3.6 DressPack floor cables

3.7 DressPack Lower and Upper arm

DressPack process configuration

Note

For more information about the process cable packages, see DressPack onpage 107


Includes signals and one air hose.Material Handling778-1

Includes signals, weld power cable, one air hose andthree media hoses.

Spot Welding778-2

DressPack lower arm


Material Handling / Spot WeldingRouting from base toaxis 3

798-3

DressPack upper arm


Requires option 778-1 and option 798-3 i .External routing fromaxis 3 to axis 6

780-3

Requires option 798-3. iInternal routing fromaxis 3 to axis 6

780-4

i Upper arm cabling is not available for IRB 6700Inv together with option Foundry plus 2.

Note

If option 780-4, LeanID, is selected the payload will decrease, for detailedinformation see Load diagrams on page 32



3 Specification of variants and options3.7 DressPack Lower and Upper arm

3.8 Connection kits

GeneralThe connectors fit to the connectors at the manipulator base, axis 3 and 6respectively.

ContentThe kit consists of connectors, pins and sockets. For technical description, seeConnection kits on page 159.


For the Customer Power/Customer Signal connectorand one Process connector on themanipulator base.Sockets for bus communication are included.

R1.CP/CS, PROC1459-1

For the 7-axis connector on the manipulator base.R3.FB7453-1

For the Customer Power/Customer Signal connectorand one Process connector at axis 3. Pins for buscommunication are included.

R2.CP/CS, PROC1458-1

Weld connector and four Process connectors at axis6, the manipulator side.

Weld, PROC1-4 axis 6452-1

Connector for customer power/customer signal/cus-tomer bus at axis 6 tool side.

CP/CS/BUS, PROC1 axis 6543-1



3 Specification of variants and options3.8 Connection kits

3.9 Servo Gun

ContentFor technical description see Servo gun on page 95.

LengthsOption

For robot handled Servo Gun.785-1

For Stationary Servo Gun.785-2

Connection to first driveFollowing information specifies the cable length for Connection to first drive. Forfurther information see Servo gun on page 95.

LengthsOption

7 m786-1

15 m786-2

22 m786-3

30 m786-4



3 Specification of variants and options3.9 Servo Gun

3.10 SpotPack Floor Cables

Weld Power CableFollowing information specifies the cable length for the Weld Power cable, fromthe Spot Welding process cabinet to the manipulator base.

DescriptionLengthsOption

7 m791-1

15 m791-2

Process Cable to Stationary GunFollowing information specifies the cable length for the Process Cable to theStationary Gun, from the Spot Welding process cabinet to the Stationary Gun.

LengthsOption

7 m809-1

15 m809-2

Cable to Split BoxFollowing information specifies the cable length for the cable to Split Box, fromthe Spot Welding process cabinet to the Split box on the manipulator base.

LengthsOption

7 m797-1

15 m797-2

22 m797-3

30 m797-4



3 Specification of variants and options3.10 SpotPack Floor Cables

3.11 Process cabinet

Empty cabinet


See Product specification - ControllerIRC5 with FlexPendant

Empty cabinet small768-1


Empty cabinet large768-2


Installation kit715-1



3 Specification of variants and options3.11 Process cabinet

3.12 Water and air

Water and air unit


DressPack floorType S792-1

DressPack floorType HS/HSe792-2

Second water return


DressPack floorSecond water return793-1



3 Specification of variants and options3.12 Water and air

3.13 User documentation

User documentationThe user documentation describes the robot in detail, including service and safetyinstructions.All documents can be found via myABB Business Portal, www.myportal.abb.com.



3 Specification of variants and options3.13 User documentation

http://www.myportal.abb.com

4 Accessories4.1 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



4 Accessories4.1 Introduction to accessories

IndexAaccessories, 183

CCalibration Pendulum, 29category 0 stop, 93category 1 stop, 93

Ddocumentation, 181DressPack warranty, 167

EElectronic Position Switches, 169EPS, 169equipment, on robot, 67

Ffine calibration, 29fitting equipment to robot, 67

Hholes for equipment, 67

Iinstructions, 181

Mmanuals, 181

Ooptions, 165

Pproduct standards, 18

Ssafety standards, 18service instructions, 181standards, 18

ANSI, 19CAN, 19EN, 18EN IEC, 18EN ISO, 18

standard warranty, 166stock warranty, 166stopping distances, 93stopping times, 93

Uuser documentation, 181

Vvariants, 165

Wwarranty, 166warranty for DressPack, 167



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

abb.com/robotics

3HAC044

265-001,Rev

K,en


robotics productspecification irb6700 ·...

Documents