ABB IRB 910SC Manual del propietario

ROBOTICS

Product specification

IRB 910SC

Trace back information:

Workspace 20C version a3

Checked in 2020-09-14

Skribenta version 5.3.075

Product specification

IRB 910SC-3/0.45

IRB 910SC-3/0.55

IRB 910SC-3/0.65

IRC5

Document ID: 3HAC056431-001

Revision: G

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 specification ..........................................................................................................
91 Description
91.1 Structure ......................................................................................................... 91.1.1 Introduction to structure ........................................................................... 111.1.2 The robot ............................................................................................... 141.2 Standards ........................................................................................................ 141.2.1 Applicable standards ............................................................................... 161.3 Installation ....................................................................................................... 161.3.1 Introduction to installation ......................................................................... 171.3.2 Operating requirements ............................................................................ 181.3.3 Mounting the manipulator ......................................................................... 201.4 Load diagrams .................................................................................................. 201.4.1 Introduction to load diagram ...................................................................... 211.4.2 Load diagram ......................................................................................... 241.4.3 Maximum load and moment of inertia .......................................................... 261.4.4 Extra loads ............................................................................................. 271.5 Mounting of equipment ....................................................................................... 291.6 Calibration ....................................................................................................... 291.6.1 Calibration methods ................................................................................. 311.6.2 Fine calibration ....................................................................................... 321.6.3 Absolute Accuracy option ......................................................................... 341.7 Maintenance and troubleshooting ......................................................................... 341.7.1 Introduction to maintenance and trouble shooting ......................................... 351.8 Robot motion .................................................................................................... 361.8.1 Working range and type of motion .............................................................. 401.8.2 Performance according to ISO 9283 ............................................................ 411.8.3 Velocity ................................................................................................. 421.8.4 Robot stopping distances and times ........................................................... 431.9 Customer connections .......................................................................................
452 Specification of variants and options
452.1 Introduction to variants and options ...................................................................... 462.2 Manipulator ...................................................................................................... 482.3 Floor cables ..................................................................................................... 492.4 User documentation ..........................................................................................
513 Accessories
53Index
Product specification - IRB 910SC 5
3HAC056431-001 Revision: G
© Copyright 2016-2020 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

Documentation referred to in the manual, is listed in the table below.

Document IDDocument name

3HAC056430-001Product manual - IRB 910SC

3HAC056433-001Product manual, spare parts - IRB 910SC

Document IDReference to the circuit diagram for the robot.

3HAC035738-001Product manual - IRC5 Compact

3HAC050941-001Operating manual - IRC5 with FlexPendant

3HAC050945-001Product specification - Controller software IRC5

3HAC047400-001Product specification - Controller IRC5

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

Ware 6

Revisions

DescriptionRevision

First edition.-

Continues on next page

Product specification - IRB 910SC 7

3HAC056431-001 Revision: G

Overview of this specification

DescriptionRevision

• The force and torque values under endurance load and maximum

load have been updated. See Floor mounted on page 18.

• Ball screw spline unit is added to the warning listing the parts that

are easily damaged due to overload. See Information on page 20.

• Working range of axis 4 has been updated. See Robot motion on

page 36.

•Performance data of IRB 910SC-3/0.45 and IRB 910SC-3/0.65 has

been added. See Performance according to ISO 9283 on page 40.

• Velocity of axis 3 changes from 1.02 m/s to 1 m/s. See Velocity

on page 41.

• Minor changes.

Published in release R16.2. The following updates are done in this revi-

sion:

• Dimension drawing for fitting the end effector is updated. See

Fitting of end effector to the ball screw spline shaft on page 27.

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

sion:

• Restriction of load diagram added.

• Changed protection from IP30 to IP20

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

sion:

• Updated list of applicable standards.

• Improved picture of end effector dimension.

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

sion:

• Updated the COG figure for describing max. moment of inertia.

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

sion:

• Updated information about Absolute Accuracy.

• The graphic of working range changed.

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

sion:

• Add section Extra loads.

8 Product specification - IRB 910SC

3HAC056431-001 Revision: G

Overview of this specification

Continued

1 Description

1.1 Structure

1.1.1 Introduction to structure

General

The IRB 910SC is ABB Robotics first generation SCARA robot, with 4 axes and a

rated payload of 3 kg (maximum payload of 6 kg) in three different reach variants

0.45 m, 0.55 m, and 0.65 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.

Operating system

The robot is equipped with the IRC5 Compact (IRC5C) 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

(IRC5C included).

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 Product

specification - Controller software IRC5.

Continues on next page

Product specification - IRB 910SC 9

3HAC056431-001 Revision: G

1 Description

1.1.1 Introduction to structure

Manipulator axes

xx1500002631

DescriptionPosi-

tion

DescriptionPosi-

tion

Axis 2BAxis 1A

Axis 3DAxis 4C

10 Product specification - IRB 910SC

3HAC056431-001 Revision: G

1 Description

1.1.1 Introduction to structure

Continued

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