ABB IRB 910INV Manual del propietario

ROBOTICS

Product specification

IRB 910INV

Trace back information:

Workspace 23C version a7

Checked in 2023-09-21

Skribenta version 5.5.019

Product specification

IRB 910INV-3/0.35

IRB 910INV-6/0.55

OmniCore

Document ID: 3HAC068057-001

Revision: M

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, damage 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 manual ...................................................................................................................
91 Description
91.1 Structure ......................................................................................................... 91.1.1 Introduction to structure ........................................................................... 121.1.2 The robot ............................................................................................... 131.1.2.1 Technical data ............................................................................ 191.2 Standards ........................................................................................................ 191.2.1 Applicable standards ............................................................................... 201.3 Installation ....................................................................................................... 201.3.1 Introduction to installation ......................................................................... 211.3.2 Operating requirements ............................................................................ 221.3.3 Mounting the manipulator ......................................................................... 241.4 Load diagrams .................................................................................................. 241.4.1 Introduction to load diagram ...................................................................... 251.4.2 Load diagram ......................................................................................... 271.4.3 Maximum load and moment of inertia .......................................................... 281.4.4 Maximum TCP acceleration ....................................................................... 291.5 Mounting of equipment ....................................................................................... 341.6 Calibration ....................................................................................................... 341.6.1 Calibration methods ................................................................................. 361.6.2 Fine calibration ....................................................................................... 371.6.3 Absolute Accuracy option ......................................................................... 391.7 Maintenance and troubleshooting ......................................................................... 391.7.1 Introduction to maintenance and trouble shooting ......................................... 401.8 Robot motion .................................................................................................... 411.8.1 Working range and type of motion .............................................................. 431.8.2 Performance according to ISO 9283 ............................................................ 441.8.3 Velocity ................................................................................................. 451.9 Robot stopping distances and times ..................................................................... 451.9.1 Robot stopping distances according to ISO 10218-1 ...................................... 491.9.2 Measuring stopping distance and time ........................................................ 511.9.3 IRB 910INV-3/0.35 ................................................................................... 571.9.4 IRB 910INV-3/0.35 IP54/CR ....................................................................... 631.9.5 IRB 910INV-6/0.55 ................................................................................... 691.9.6 IRB 910INV-6/0.55 IP54/CR ....................................................................... 751.10 Customer connections .......................................................................................
772 Specification of variants and options
772.1 Introduction to variants and options ...................................................................... 782.2 Manipulator ...................................................................................................... 812.3 Floor cables ..................................................................................................... 842.4 User documentation ..........................................................................................
853 Accessories
87Index
Product specification - IRB 910INV 5
3HAC068057-001 Revision: M
© Copyright 2019-2023 ABB. All rights reserved.
Table of contents

This page is intentionally left blank

Overview of this manual

About this product specification

This product specification 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 equipment

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

reach

• The specification of available variants and options

The specification covers the manipulator using the OmniCore controller.

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.

The specification is intended for:

• Product managers and product personnel

• Sales and marketing personnel

• Order and customer service personnel

References

Document IDDocument name

3HAC065034-001Product specification - OmniCore C line

3HAC079823-001Product specification - OmniCore E line

3HAC060860-001Product manual - OmniCore C30

3HAC073706-001Product manual - OmniCore C90XT

3HAC079399-001Product manual - OmniCore E10

3HAC068055-001Product manual - IRB 910INV

Revisions

DescriptionRevision

First edition.A

Published in release R19D The following updates are done in this revi-

sion:

• Protection option 3350-540 Base 54 and 3351-1 Cleanroom 1 ad-

ded. 209-2 ABB white standard added.

• Minor changes.

Published in release R20C. The following updates are done in this revi-

sion:

• Minor Changes.

• Absacc production data added.

Continues on next page

Product specification - IRB 910INV 7

3HAC068057-001 Revision: M

Overview of this manual

DescriptionRevision

Published in release R20D. The following updates are done in this revi-

sion:

• Minor Changes.

• Warranty section updated.

Published in release R21A. The following updates are done in this revi-

sion:

• Maximum TCP acceleration added.

• Connector types for CP/CS and Ethernet floor cable wiring are

added.

Published in release R21B. The following updates are done in this revi-

sion:

• Performance data according to ISO 9283 updated.

• Modified the air hose diameter description.

• Text regarding fastener quality is updated.

• Added a note to remind users that mechanical stop locations

cannot be adjusted.

• Removed Axis resolution.

• Added a note in manipulator protection chapter.

Published in release R21C. The following updates are done in this revi-

sion:

• Removed option 438-4/5/7.

• Option 3209-1 added.

Published in release R21D. The following updates are done in this revi-

sion:

• Supported controller OmniCore E10 is added.

Published in release R22A. The following updates are done in this revi-

sion:

•Added screwing depth information to attachment screws for robot

foundation.

Published in release R22D. The following updates are done in this revi-

sion:

• Updated power consumption data.

• Added Mains cable [3203-x].

Published in release R23B. The following updates are done in this revi-

sion:

• Added table for Max down force (Z stroke).

Published in release 23C. The following updates are done in this revision:

• The updated robot stopping distances and times are moved to

this document, and removed from the generic document, see

Robot stopping distances and times on page 45.

8 Product specification - IRB 910INV

3HAC068057-001 Revision: M

Overview of this manual

Continued

1 Description

1.1 Structure

1.1.1 Introduction to structure

General

The IRB 910INV is ABB Robotics second generation SCARA robot, with 4 axes

and a max payload of 3 kg and 6 kg in two different reach variants 0.35 m and 0.55

m, 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

xx2000001471

Particle emission from the robot fulfill Clean room class 1 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 910INV is suitable for use in clean rooms fulfilling the Air Cleanliness

Class 1 according to ISO 14644-1, when operated at a capacity of 50%.

The robot IRB 910INV is suitable for use in clean rooms fulfilling the Air Cleanliness

Class 1 according to ISO 14644-1, when operated at a capacity of 100%.

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.

Continues on next page

Product specification - IRB 910INV 9

3HAC068057-001 Revision: M

1 Description

1.1.1 Introduction to structure

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.

IP54 protection

The robot has IP54 as an option. The option will add sealing, machining parts and

gaskets.

Operating system

The robot is equipped with the OmniCore C30/C90/E10 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 Operating manual - OmniCore.

Safety

The safety standards are valid for the complete robot, manipulator and controller.

Additional functionality

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

application support - for example dispensing and cutting, communication features

- network communication - and advanced functions such as multitasking, sensor

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

specification - OmniCore C line and Product specification - OmniCore E line.

Continues on next page

10 Product specification - IRB 910INV

3HAC068057-001 Revision: M

1 Description

1.1.1 Introduction to structure

Continued

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