Description. 2.8 Robot Motion. Floor-mounting. Dimensions apply to IRB 6400/ Shelf-mounting

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1 Description 2.8 Robot Motion Floor-mounting Dimensions apply to IRB 64/ Shelf-mounting Figure 8 Working space of IRB 64 and IRB 64S (dimensions in mm). Product Specification IRB 64 M97A/BaseWare OS 3. 13

2 Description IRB 64C Motion performance Figure 9 Working space of the IRB 64C (dimensions in mm). The QuickMove TM concept means that a self-optimizing motion control is used. The robot automatically optimizes the servo parameters to achieve the best possible performance throughout the cycle - based on load properties, location in working area, velocity and direction of movement. - No parameters have to be adjusted to achieve correct path, orientation and velocity. - Maximum acceleration is always obtained (acceleration can be reduced, e.g. when handling fragile parts). - The number of adjustments that have to be made to achieve the shortest possible cycle time is minimized. The TrueMove TM concept means that the programmed path is followed regardless of the speed or operating mode even after an emergency stop, a safeguarded stop, a process stop, a program stop or a power failure. The robot can, in a controlled way, pass through singular points, i.e. points where two axes coincide. 14 Product Specification IRB 64 M97A/BaseWare OS 3.

3 3 Technical specification Applies to standard and Foundry versions unless otherwise stated. 3.1 Structure Weight: Manipulator IRB 64C/B-1 14 kg IRB 64PE / kg IRB 64 / kg IRB 64 /2.4-1, /2.4-2 /2.8-12, / kg IRB 64FHD 2 kg IRB 64S / kg Controller 24 kg Volume: Controller 9 x 8 x 4 mm Airborne noise level: The sound pressure level outside the working space < 7 db (A) Leq (acc. to Machinery directive 89/392 EEC) * Lifting points for forklift * Castor wheels Figure 11 View of the controller from the front, from above and from the side (dimensions in mm). Product Specification IRB 64 M97A/BaseWare OS 3. 19

4 IRB 64 /2.4-12, /2.4-1, /2.4-2, /2.8-12, /3.-7 IRB 64FHD 196 (/3.-7) 17 (/2.8-12) 2 19 (/2.4-x) 13 (/2.4-x) (/2.4-2 and FHD) R 71 (/2.4-1) (/2.8-12) (/3.-7) R 644 (/2.4-12) (/2.4-2 and FHD) Figure 12 View of the manipulator from the side, rear and above (dimensions in mm). 2 Product Specification IRB 64 M97A/BaseWare OS 3.

5 IRB 64PE / R Figure 13 View of the manipulator from the side, rear and above (dimensions in mm). Product Specification IRB 64 M97A/BaseWare OS 3. 21

6 IRB 64S / Figure 14 View of the manipulator from the side and rear (dimensions in mm). The robot is shown in its calibration position. IRB 64C /B Figure 1 View of the manipulator from the side, rear and above (dimensions in mm). 22 Product Specification IRB 64 M97A/BaseWare OS 3.

7 Frame (Hip Load) Permitted extra load on frame is J H = 12 kgm 2. Recommended position (see Figure 32 and Figure 33). J H = J H + M4 R 2 where J H is the moment of inertia of the equipment R is the radius (m) from the centre of axis 1 M4 is the total mass (kg) of the equipment including bracket and harness ( 32 kg) 362 R M4 J H Figure 32 Extra load on frame of IRB 64 /2.4-12, /2.4-1, /2.4-2, /2.8-12, /3.-7, FHD and IRB 64PE /2.2-7 (dimensions in mm). M4 J H 272 Figure 33 Extra load on frame of IRB 64S / (dimensions in mm). 38 Product Specification IRB 64 M97A/BaseWare OS 3.

8 A A D E D E M1 (2x) See E-E M1 (4x) B B 14 for Hole 1 93 for Hole 2 See E-E C (/2.4-x) A - A 112 C F M1 (2x) B - B 1 26 M1 (4x) Depth 2 93 M1 (2x) 378 C - C F M1 (2x) D - D 22 Hole 1 Hole E - E /M12 (4x) Depth 2 (on both sides) Figure 34 Holes for mounting extra equipment (dimensions in mm). Product Specification IRB 64 M97A/BaseWare OS 3. 39

9 IRB 64C D D A A 46 2 M1 (4x) M1 (4x) B B 1 7 D - D C A - A C 112 F M1 (2x) M1 (2x) 378 B - B C - C Figure 3 Holes for mounting extra equipment IRB 64C. (dimensions in mm). F. 3 o D=1 H7 Depth 1 M1 (6x) Depth o D=12 D=16 h7 D=8 H7 F - F Figure 36 The mechanical interface (mounting flange) ISO 949 (dimensions in mm). 8 4 Product Specification IRB 64 M97A/BaseWare OS 3.

10 3.8 Robot Motion IRB 64 / /2.4-1 /2.4-2, / /3.-7, FHD and PE/2.2-7 Type of motion Range of movement Axis 1 Rotation motion +18 o to -18 o Axis 2 Arm motion +7 o to -7 o Axis 3 Arm motion +1 o to -28 o Axis 4*)Wrist motion +3 o to -3 o +2 o to -2 o (PE /2.2-7) Axis *)Bend motion +12 o to -12 o Axis 6 Turn motion +3 o to -3 o *) For IRB 64FHD, see load diagram Figure ϕ2 ϕ2/ϕ3 2 ϕ All dimensions refer to the wrist centre (mm) Angle 2/3 (ϕ2/ϕ3) Min. 2 o Max. 1 o 9 o at pos. pos x Positions at wrist centre (mm) z z z x x PE/2.2-7 x z Angle ϕ2, ϕ3 (degrees) pos. axis 2 (ϕ2) axis 3 (ϕ3) Figure 37 The extreme positions of the robot arm 46 Product Specification IRB 64 M97A/BaseWare OS 3.

11 IRB 64S / Type of motion Range of movement Axis 1 Rotation motion +18 o to -18 o Axis 2 Arm motion +14 o to +1 o Axis 3 Arm motion +1 o to +47 o Axis 4 Wrist motion +3 o to -3 o Axis Bend motion +12 o to -12 o Axis 6 Turn motion +3 o to -3 o ϕ2 Z ϕ3 ϕ2/ϕ3 1 3 X All dimensions refer to the wrist centre (mm) Angle 2/3 (ϕ2/ϕ3) Min. 2 o Max. 1 o 9 o at pos. Positions at wrist centre (mm) pos x z pos. axis 2 (ϕ2) axis 3(ϕ3) Angle ϕ2, ϕ3 (degrees) Figure 38 The extreme positions of the robot arm. Product Specification IRB 64 M97A/BaseWare OS 3. 47

12 IRB 64C /B-1 Type of motion Range of movement Axis 1 Arm motion +7 o to -6 o Axis 2 Rotation motion +9 o to -9 o Axis 3 Arm motion +9 o to -18 o Axis 4 Wrist motion +3 o to -3 o Axis Bend motion +12 o to -12 o Axis 6 Turn motion +3 o to -3 o Figure 39 The extreme position of the robot arm IRB 64C (dimensions in mm). 48 Product Specification IRB 64 M97A/BaseWare OS 3.

13 Performance according to ISO 9283 At rated load and 1 m/s velocity on the inclined ISO test plane with all six robot axes in motion. Unidirectional pose repeatability: RP =.1 mm (IRB 64/2.4-12) RP =.1 mm (IRB 64/2.4-1 and IRB 64/2.4-2) RP =.2 mm (Others) Linear path accuracy: AT = mm (IRB 64/2.4-12) AT = mm (Others) Linear path repeatability: RT =. -.8 mm (IRB 64/2.4-12) RT = mm (Others) Minimum positioning time, to within.4 mm of the position: sec. (IRB 64/2.4-12, on 3 mm linear path) sec. (IRB 64/2.4-12, on 3 mm linear path).3 -. sec. (Others, on 3 mm linear path) sec. (Others, on 3 mm linear path) The above values are the range of average test-results from a number of robots. If guaranteed values are required, please contact your nearest ABB Flexible Automation Centre. Velocity IRB 64 versions: S/ PE/ C/ B-1 FHD Axis no. 1 1 o /s 9 o /s 1 o /s 1 o /s 1 o /s 7 o /s 2 1 o /s 9 o /s 1 o /s 1 o /s 1 o /s 7 o /s 3 1 o /s 9 o /s 1 o /s 1 o /s 1 o /s 7 o /s 4 21 o /s 12 o /s 21 o /s 21 o /s 21 o /s 21 o /s 1 o /s 12 o /s 1 o /s 1 o /s 1 o /s 1 o /s 6 21 o /s 19 o /s 21 o /s 21 o /s 21 o /s 21 o /s There is a supervision function to prevent overheating in applications with intensive and frequent movements. Resolution Approx..1 o on each axis. Product Specification IRB 64 M97A/BaseWare OS 3. 49