ABB IRB 120 Manual del propietario

ROBOTICS

Product specification

IRB 120

Trace back information:

Workspace OmniCore and R19C version a16

Checked in 2019-09-16

Skribenta version 5.3.012

Product specification

IRB 120

IRC5

Document ID: 3HAC035960-001

Revision: T

Specifications subject to change without notice.

The information in this manual is subject to change without notice and should not

be construed as a commitment by ABB. ABB assumes no responsibility for any errors

that may appear in this manual.

Except as may be expressly stated anywhere in this manual, nothing herein shall be

construed as any kind of guarantee or warranty by ABB for losses, damages to

persons or property, fitness for a specific purpose or the like.

In no event shall ABB be liable for incidental or consequential damages arising from

use of this manual and products described herein.

This manual and parts thereof must not be reproduced or copied without ABB's

written permission.

Keep for future reference.

Additional copies of this manual may be obtained from ABB.

Original instructions.

Specifications subject to change without notice.

Table of contents
7Overview of this specification ..........................................................................................................
91 Description
91.1 Structure ......................................................................................................... 91.1.1 Introduction to structure ........................................................................... 111.1.2 The robot ............................................................................................... 131.2 Standards ........................................................................................................ 131.2.1 Applicable standards ............................................................................... 151.3 Installation ....................................................................................................... 161.3.1 Operating requirements ............................................................................ 171.3.2 Mounting the manipulator ......................................................................... 201.4 Load diagram ................................................................................................... 201.4.1 Introduction to load diagrams .................................................................... 211.4.2 Load diagrams ........................................................................................
23
1.4.3 Maximum load and moment of inertia for full and limited axis 5 (center line down)
movement .............................................................................................. 251.5 Mounting of equipment ....................................................................................... 261.5.1 Holes for mounting extra equipment ........................................................... 281.6 Calibration ....................................................................................................... 281.6.1 Calibration methods ................................................................................. 291.6.2 Fine calibration ....................................................................................... 301.6.3 Absolute Accuracy option ......................................................................... 321.7 Maintenance and trouble shooting ........................................................................ 321.7.1 Introduction to maintenance and trouble shooting ......................................... 331.8 Robot motion .................................................................................................... 331.8.1 Working range and type of motion .............................................................. 351.8.2 Performance according to ISO 9283 ............................................................ 361.8.3 Velocity ................................................................................................. 371.8.4 Robot stopping distances and times ........................................................... 381.9 Customer connections ....................................................................................... 381.9.1 Introduction to customer connections .........................................................
392 Specification of variants and options
392.1 Introduction to variants and options ...................................................................... 402.2 Manipulator ...................................................................................................... 422.3 Floor cables ..................................................................................................... 432.4 Process ........................................................................................................... 442.5 User documentation ..........................................................................................
453 Accessories
453.1 Introduction to accessories .................................................................................
47Index
Product specification - IRB 120 5
3HAC035960-001 Revision: T
© Copyright 2010-2019 ABB. All rights reserved.
Table of contents

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Overview of this specification

About this product specification

It describes the performance of the manipulator or a complete family of manipulators

in terms of:

• The structure and dimensional prints

• The fulfilment of standards, safety and operating requirements

• The load diagrams, mounting of extra equipment, the motion and the robot

reach

• The specification of variants and options available

Usage

Product 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 described

in the product manual.

Users

It is intended for:

• Product managers and product personnel

• Sales and marketing personnel

• Order and customer service personnel

References

Document IDReference

3HAC047400-001Product specification - Controller IRC5

IRC5 with main computer DSQC1000.

3HAC050945-001Product specification - Controller software IRC5

IRC5 with main computer DSQC1000 and RobotWare 5.6x.

3HAC050945-001Product specification - Controller software IRC5

IRC5 with main computer DSQC1000 and RobotWare 6.

3HAC048645-001Product specification - Robot stopping distances according to ISO 10218-

3HAC035728-001Product manual - IRB 120

3HAC050941-001Operating manual - IRC5 with FlexPendant

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

Revisions

DescriptionRevision

New product specification-

Options 431-1 and 239-1 addedA

Standards updated, minor correctionsB

Size of washer for mounting the manipulator adjustedC

Continues on next page

Product specification - IRB 120 7

3HAC035960-001 Revision: T

Overview of this specification

DescriptionRevision

Table for ambient temperature is adjustedD

•Clean Room option added

• Machinery directive updated

• New robot variant added

• General corrections

• Added data for extended range of movement of axis 6.

• Changed the illustration that shows the mounting surface

of the tool flange.

• Minor corrections and updates

• Text for ISO test adjusted

• Robot stopping distances and times for category 0 and

category 1 stops are moved to a separate document, Product

specification - Robot stopping distances according to ISO

10218-1.

• The list of applicable safety standards is updated. The IRB

120 does not comply with the CSA/UL standards, see Ap-

plicable standards on page 13.

• Minor corrections/update

• Clean Room option added

• Food grade lubrication option added

• Axis Calibration method added

Published in release R17.1. The following updates are done in this

revision:

• Minor corrections/update

• Restriction of Load diagram added

• Add options of Connection of parallell communication

Published in release R17.2. The following updates are done in this

revision:

• Change the drawing of Load diagrams.

• Updated list of applicable standards.

Published in release R18.2. The following updates are done in this

revision:

• Update customer connector description.

Published in release R19B The following updates are done in this

revision:

• 435-109 IRB 120T-3/0.6 phased out.

• Updated information about Absolute Accuracy.

Published in release R19C The following updates are done in this

revision:

• Minor change in Ambient temperature section.

• Note added about need to calibrate if the robot is other than

floor mounted.

8 Product specification - IRB 120

3HAC035960-001 Revision: T

Overview of this specification

Continued

1 Description

1.1 Structure

1.1.1 Introduction to structure

General

The IRB 120 is one of ABB Robotics latest generation of 6-axis industrial robot,

with a payload of 3 kg, designed specifically for manufacturing industries that use

flexible robot-based automation, e.g. 3C industry.

The robot has an open structure that is especially adapted for flexible use, and

can communicate extensively with external systems.

Clean room robots

xx1100000959

Particle emission from the robot fulfill Clean room class 5 standard according to

DIN EN ISO 14644-1.

Clean room robots are specially designed to work in a clean room environment.

According to IPA test result, the robot IRB 120 is suitable for use in Clean Room

environment.

Clean room robots are designed in order to prevent from particle emission from

the robot. For example is, frequent maintenance work possible to perform without

cracking the paint. The robot is painted with four layers of polyurethane paint. The

last layer being a varnish over labels in order to simplify cleaning. The paint has

been tested regarding outgassing of Volatile Organic Compounds (VOC) and been

classified in accordance with ISO 14644-8.

Classification of airborne molecular contamination, see below:

Outgassing amountParameter

Classifica-

tion in ac-

cordance to

ISO 14644-

Normed

based on

1m2and

1s(g)

Total detec-

ted (ng)

Performed

test

Temp (°C)Test dura-

tion (s)

Area (m2)

-6.81.7E-072848TVOC2336004.5E-03

-3.81.7E-0446524TVOC90604.5E-03

Classification results in accordance with ISO 14644-8 at different test temperatures.

Food grade lubrication

The robot has food grade lubrication (NSF H1) as an option. The protection type

for robots with food grade lubrication is Clean Room.

Continues on next page

Product specification - IRB 120 9

3HAC035960-001 Revision: T

1 Description

1.1.1 Introduction to structure

Operating system

The robot is equipped with the IRC5 Compact or IRC5 (Single cabinet) controller

and robot control software, RobotWare. RobotWare supports every aspect of the

robot system, such as motion control, development and execution of application

programs, communication etc. See Product specification - Controller IRC5 with

FlexPendant and Product specification - Controller software IRC5.

Safety

Safety standards valid for complete robot, manipulator and controller.

Additional functionality

For additional functionality, the robot can be equipped with optional software for

application support - for example gluing and welding, communication features -

network communication - and advanced functions such as multitasking, sensor

control etc. For a complete description on optional software, see Product

specification - Controller software IRC5.

Manipulator axes

Axis 1

Axis 2

Axis 3 Axis 4

+Axis 5

++Axis 6

xx0900000262

10 Product specification - IRB 120

3HAC035960-001 Revision: T

1 Description

1.1.1 Introduction to structure

Continued

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