ABB Robotics IRB 1200 Product Specification
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ABB Robotics IRB 1200 Product Specification

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ROBOTICS
Product specification
IRB 1200

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Summary of Contents for ABB Robotics IRB 1200

  • Page 1 ROBOTICS Product specification IRB 1200...
  • Page 2 Trace back information: Workspace R17-2 version a19 (not checked in) Published 2017-10-17 at 04:42:58 Skribenta version 5.1.011...
  • Page 3 Product specification IRB 1200-5/0.9 IRB 1200-5/0.9 type A IRB 1200-5/0.9 type B IRB 1200-7/0.7 IRB 1200-7/0.7 type A IRB 1200-7/0.7 type B Document ID: 3HAC046982-001 Revision: G © Copyright 2017 ABB. All rights reserved.
  • Page 4 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.

  • Page 5: Table Of Contents

    Specification of variants and options Introduction to variants and options ..............Manipulator ...................... Floor cables ..................... Control module ....................Process ......................Accessories Introduction to accessories ................. Index Product specification - IRB 1200 3HAC046982-001 Revision: G © Copyright 2017 ABB. All rights reserved.
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  • Page 7: Overview Of This Specification

    IRC5 with main computer DSQC1000 and RobotWare 5.6x. Product specification - Controller software IRC5 3HAC050945-001 IRC5 with main computer DSQC1000 and RobotWare 6. Product manual - IRB 1200 3HAC046983-001 Product manual - IRC5 Compact 3HAC035738-001 Operating manual - IRC5 with FlexPendant...
  • Page 8 Foundry Plus option added. • Type A robot information added due to new standard calib- ration method (Axis Calibration). See Type A of IRB 1200 on page Published in release R17.1. The following updates are done in this revision: •...

  • Page 9: Description

    As a result of this, the castings differ between IRB 1200 and IRB 1200 Type A. Note IRB 1200 Type B is designed based on IRB 1200 Type A so that Type B has the bushings for installation of calibration tools too.
  • Page 10 Battery pack • SMB unit (replacing EIB unit) IRB 1200 Type B is designed based on IRB 1200 Type A so that Type B has the bushings for installation of calibration tools too. How to know which type the robot is? The type label on the base of the robot tells if the robot supports SafeMove 2.
  • Page 11 Please contact ABB Robotics Sales organization if in doubt regarding specific application feasibility for the Foundry Plus 2 protected robot.
  • Page 12 - and advanced functions such as multitasking, sensor control etc. For a complete description on optional software, see Product specification - Controller software IRC5. Manipulator axes xx1300000365 Continues on next page Product specification - IRB 1200 3HAC046982-001 Revision: G © Copyright 2017 ABB. All rights reserved.
  • Page 13 1 Description 1.1.1 Introduction to structure Continued Posi- Description Posi- Description tion tion Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Product specification - IRB 1200 3HAC046982-001 Revision: G © Copyright 2017 ABB. All rights reserved.

  • Page 14: The Robot

    1 Description 1.1.2 The robot 1.1.2 The robot General The IRB 1200 is available in two versions and both can be mounted on floor, inverted or on wall in any angle (around X-axis or Y-axis). Robot type Handling capacity (kg)
  • Page 15 Minimum turning radius axis 3 R=139 mm Minimum turning radius axis 1 R=138 mm Valid for option Robot cabling routing, 966-1 From below Continues on next page Product specification - IRB 1200 3HAC046982-001 Revision: G © Copyright 2017 ABB. All rights reserved.
  • Page 16 Minimum turning radius axis 4 R=79 mm Minimum turning radius axis 3 R=111 mm Minimum turning radius axis 1 R=138 mm Valid for option Robot cabling routing, 966-1 From below Product specification - IRB 1200 3HAC046982-001 Revision: G © Copyright 2017 ABB. All rights reserved.

  • Page 17: Standards

    - General requirements Only robots with protection Clean Room. Only valid for arc welding robots. Replaces EN IEC 61000-6-4 for arc welding robots. Continues on next page Product specification - IRB 1200 3HAC046982-001 Revision: G © Copyright 2017 ABB. All rights reserved.
  • Page 18 Industrial robots and robot Systems - General safety require- ments (option 429-1) ANSI/ESD S20.20:2007 Protection of Electrical and Electronic Parts, Assemblies and Equipment (Excluding Electrically Initiated Explosive Devices) Product specification - IRB 1200 3HAC046982-001 Revision: G © Copyright 2017 ABB. All rights reserved.

  • Page 19: Installation

    1.3.1 Introduction to installation General IRB 1200 is adapted for normal industrial environment. Depending on robot variant, an end effector with max. weight of 5 or 7 kg, including payload, can be mounted on the robot’s mounting flange (axis 6). Other equipment, weighing a maximum of 0.3 kg, can be mounted on the upper arm.

  • Page 20: Operating Requirements

    For robots with food grade lubrication, if environment temperature > 35ºC, contact ABB for further information. Relative humidity Description Relative humidity Complete robot during operation, transportation and Max. 95% at constant temperature storage Product specification - IRB 1200 3HAC046982-001 Revision: G © Copyright 2017 ABB. All rights reserved.

  • Page 21: Mounting The Manipulator

    ±1620 N Force z +550 ±980 N +550 ±1610 N Torque xy ±570 Nm ±1550 Nm Torque z ±280 Nm ±580 Nm Continues on next page Product specification - IRB 1200 3HAC046982-001 Revision: G © Copyright 2017 ABB. All rights reserved.
  • Page 22 ) can occur in any direction in the XY-plane of the base coordinate system.The same applies to the transverse force (F Continues on next page Product specification - IRB 1200 3HAC046982-001 Revision: G © Copyright 2017 ABB. All rights reserved.
  • Page 23 13 x 20 x 2, steel hardness class 300HV Guide pins 2 pcs, D6x20, ISO 2338 - 6m6x20 - A1 Tightening torque 55 Nm ± 5 Nm Level surface requirements xx0900000643 Product specification - IRB 1200 3HAC046982-001 Revision: G © Copyright 2017 ABB. All rights reserved.

  • Page 24: Load Diagram

    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 load cases and special applications, contact ABB for further analysis. Product specification - IRB 1200 3HAC046982-001 Revision: G © Copyright 2017 ABB. All rights reserved.

  • Page 25: Load Diagram

    2 kg 3 kg 0,20 4 kg 5 kg 6 kg 7 kg 0,00 0,10 0,20 0,30 0,40 L (m) 0,00 xx1300000371 Continues on next page Product specification - IRB 1200 3HAC046982-001 Revision: G © Copyright 2017 ABB. All rights reserved.
  • Page 26 1 Description 1.4.2 Load diagram Continued IRB 1200 - 7/0.7 "Vertical wrist" (± 10 L (m) 7,5 kg 6 kg 4 kg 2 kg 1 kg xx1300000372 For wrist down (0 deviation from the vertical line). Description Max load 7.5 kg 0.159 m...
  • Page 27 0,40 1 kg 0,30 2 kg 0,20 3 kg 4 kg 5 kg 0,00 0,10 0,20 0,30 L (m) 0,00 xx1300000369 Continues on next page Product specification - IRB 1200 3HAC046982-001 Revision: G © Copyright 2017 ABB. All rights reserved.
  • Page 28 1 Description 1.4.2 Load diagram Continued IRB 1200 - 5/0.9 "Vertical wrist" (± 10 L (m) 5,5 kg 5 kg 3,5 kg 2 kg 1 kg xx1300000370 For wrist down (0 deviation from the vertical line). Description Max load 5.5 kg 0.199 m...

  • Page 29: Maximum Load And Moment Of Inertia For Axis 5

    ) ≤ 0.45 kgm IRB 1200-7/0.7 = Mass x L ≤ 0.2 kgm IRB 1200-5/0.9 = Mass x L ≤ 0.2 kgm Continues on next page Product specification - IRB 1200 3HAC046982-001 Revision: G © Copyright 2017 ABB. All rights reserved.
  • Page 30 Max torque valid at axis 4 and 5 axis 6 load IRB 1200-7/0.7 12.5 Nm 6.2 Nm 7 kg IRB 1200-5/0.9 8.9 Nm 4.4 Nm 5 kg Product specification - IRB 1200 3HAC046982-001 Revision: G © Copyright 2017 ABB. All rights reserved.

  • Page 31: Fitting Of Equipment

    (See Holes for fitting extra equipment on page 32). IRB 1200-7/0.7 IRB 1200-5/0.9 xx1300000384 Load area (A) Max load IRB 1200-5/0.9 0.3 kg IRB 1200-7/0.7 Product specification - IRB 1200 3HAC046982-001 Revision: G © Copyright 2017 ABB. All rights reserved.

  • Page 32: Holes For Fitting Extra Equipment

    2 x M4 8 2 x M4 2xM5 xx1300000381 Description IRB 1200-5/0.9 = 451 mm, IRB 1200-7/0.7 = 351 mm IRB 1200-5/0.9 = 216 mm, IRB 1200-7/0.7 = 116 mm Continues on next page Product specification - IRB 1200 3HAC046982-001 Revision: G...
  • Page 33 1.5.2 Holes for fitting extra equipment Continued Lower arm 2 x M5 30 ±0,15 122,5 122,5 122,5 122,5 IRB 1200-7/0.7 IRB 1200-5/0.9 xx1300000382 Continues on next page Product specification - IRB 1200 3HAC046982-001 Revision: G © Copyright 2017 ABB. All rights reserved.
  • Page 34 Frame 30 ±0.15 2xM10 xx1400000590 Description Holes on both sides Robot tool flange 0.012 5 H7 0.04 4xM5 0.25 31.5 xx1300000383 Continues on next page Product specification - IRB 1200 3HAC046982-001 Revision: G © Copyright 2017 ABB. All rights reserved.
  • Page 35 1 Description 1.5.2 Holes for fitting extra equipment Continued Robot tool flange for Foundry Plus robots 0.012 5 H7 0.04 4xM5 0.25 31.5 xx1600001322 Product specification - IRB 1200 3HAC046982-001 Revision: G © Copyright 2017 ABB. All rights reserved.

  • Page 36: Calibration

    1.6.1 Fine calibration 1.6 Calibration 1.6.1 Fine calibration General Fine calibration is made by moving the axes to a fixed position on the frame. For detailed information on calibration of the robot see Product manual - IRB 1200. xx1300000365 Posi- Description Posi-...

  • Page 37: Absolute Accuracy Calibration

    Absolute Accuracy is a RobotWare option and includes an individual calibration of the robot (mechanical arm). Continues on next page Product specification - IRB 1200 3HAC046982-001 Revision: G © Copyright 2017 ABB. All rights reserved.
  • Page 38 Cartesian coordinate system. xx1700000069 Production data Typical production data regarding calibration are: Robot Positioning accuracy (mm) Average % Within 1 mm IRB1200-7/0.7 0.13 0.30 IRB1200-5/0.9 0.14 0.45 Product specification - IRB 1200 3HAC046982-001 Revision: G © Copyright 2017 ABB. All rights reserved.

  • Page 39: Maintenance And Troubleshooting

    The maintenance intervals depend on the use of the robot, the required maintenance activities also depends on selected options. For detailed information on maintenance procedures, see Maintenance section in the Product Manual - IRB 1200. Product specification - IRB 1200 3HAC046982-001 Revision: G ©...

  • Page 40: Robot Motion

    Option 610-1 Independent axis can be used for resetting the revolution counter after the axis has been rotated (no need for "rewinding" the axis). Continues on next page Product specification - IRB 1200 3HAC046982-001 Revision: G © Copyright 2017 ABB. All rights reserved.
  • Page 41 1 Description 1.8.1 Working range and type of motion Continued Working range IRB 1200-7/0.7 Working range, positions at wrist center and angle of axes 2 and 3 The illustration shows the unrestricted working range of the robot. Pos 1 Pos 0...
  • Page 42 1 Description 1.8.1 Working range and type of motion Continued IRB 1200-5/0.9 Working range, positions at wrist center and angle of axes 2 and 3 The illustration shows the unrestricted working range of the robot. Pos 1 Pos 0 Pos 9...

  • Page 43: Performance According To Iso 9283

    Linear path repeatability, RT (mm) 0.07 0.02 Linear path accuracy, AT (mm) 0.53 0.77 Pose stabilization time, Pst (s) within 0.1 mm of the 0.113 0.057 position Product specification - IRB 1200 3HAC046982-001 Revision: G © Copyright 2017 ABB. All rights reserved.

  • Page 44: Velocity

    400 °/s 405 °/s 600 °/s Supervision is required to prevent overheating in applications with intensive and frequent movements. Resolution Approximately 0.01 on each axis. Product specification - IRB 1200 3HAC046982-001 Revision: G © Copyright 2017 ABB. All rights reserved.

  • Page 45: Stopping Distance / Time

    0.43 0.41 Axis 2 0.40 0.34 Axis 3 0.40 0.36 Main power Axis 1 0.25 0.25 failure Axis 2 0.22 0.31 Axis 3 0.31 0.21 Product specification - IRB 1200 3HAC046982-001 Revision: G © Copyright 2017 ABB. All rights reserved.

  • Page 46: Customer Connections

    There is also connections for Ethernet, one connector 1401057(Phoenix) (R4.Ethernet) at the tubular housing and the corresponding connector 1424009(Phoenix) (R1.Ethernet) located at the base. Continues on next page Product specification - IRB 1200 3HAC046982-001 Revision: G © Copyright 2017 ABB. All rights reserved.
  • Page 47 Position Connection Description Number Value (R1)R4.CP/CS Customer power/signal 49 V, 500 mA Max. 5 bar Inner hose diameter 4 mm (R1)R4.Ethernet Customer Ethernet 100/10 Base-TX Product specification - IRB 1200 3HAC046982-001 Revision: G © Copyright 2017 ABB. All rights reserved.
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  • Page 49: Specification Of Variants And Options

    2 Specification of variants and options 2.1 Introduction to variants and options General The different variants and options for the IRB 1200 are described in the following sections. The same option numbers are used here as in the specification form. Related information For the controller see Product specification - Controller IRC5.

  • Page 50: Manipulator

    Option Description 777-1 Manipulator lubricated with food grade lubrication. Note This option is released from RobotWare 6.03 as IRB1200FGL-5/0.9 and IRB1200FGL-7/0.7. Continues on next page Product specification - IRB 1200 3HAC046982-001 Revision: G © Copyright 2017 ABB. All rights reserved.
  • Page 51 UL/UR approved robot. xx1300000389 Robot cabling routing Option Description 966-1 Manipulator cables routed from below, underneath the base of the manipu- lator. Continues on next page Product specification - IRB 1200 3HAC046982-001 Revision: G © Copyright 2017 ABB. All rights reserved.
  • Page 52 Standard warranty + 30 Standard warranty extended with 30 months from end months date of the standard warranty. Warranty terms and con- ditions apply. Continues on next page Product specification - IRB 1200 3HAC046982-001 Revision: G © Copyright 2017 ABB. All rights reserved.
  • Page 53 6 months from Factory Shipment Date or from activation date of standard war- ranty in WebConfig. Note Special conditions are applicable, see Robotics Warranty Directives. Product specification - IRB 1200 3HAC046982-001 Revision: G © Copyright 2017 ABB. All rights reserved.

  • Page 54: Floor Cables

    94-2 15 m 94-3 22 m 94-4 30 m Connection of Ethernet Option Lengths 859-1 859-2 15 m 859-3 22 m 859-4 30 m 859-6 Product specification - IRB 1200 3HAC046982-001 Revision: G © Copyright 2017 ABB. All rights reserved.

  • Page 55: Control Module

    2 Specification of variants and options 2.4 Control module 2.4 Control module Safety robot supervision Option Description 1125-1 SafeMove Basic 1125-2 SafeMove Pro Product specification - IRB 1200 3HAC046982-001 Revision: G © Copyright 2017 ABB. All rights reserved.

  • Page 56: Process

    See Product specification - Controller IRC5, chapter 2.2.1 768-2 Empty cabinet large See Product specification - Controller IRC5, chapter 2.2.1 715-1 Installation kit See Product specification - Controller IRC5, chapter 2.2.1 Product specification - IRB 1200 3HAC046982-001 Revision: G © Copyright 2017 ABB. All rights reserved.

  • Page 57: Accessories

    For more information, see Product specification - Controller IRC5 and Product specification - Controller software IRC5. Robot peripherals • Motor Units Not applicable for IRC5 Compact controller. Product specification - IRB 1200 3HAC046982-001 Revision: G © Copyright 2017 ABB. All rights reserved.
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  • Page 59: Index

    EN IEC, 17 fitting EN ISO, 17 extra equipment, 32 standard warranty, 52 stock warranty, 52 options, 49 variants, 49 product standards, 17 warranty, 52 robot type Product specification - IRB 1200 3HAC046982-001 Revision: G © Copyright 2017 ABB. All rights reserved.
  • Page 62 ABB AB, Robotics Robotics and Motion S-721 68 VÄSTERÅS, Sweden Telephone +46 (0) 21 344 400 ABB AS, Robotics Robotics and Motion Nordlysvegen 7, N-4340 BRYNE, Norway Box 265, N-4349 BRYNE, Norway Telephone: +47 22 87 2000 ABB Engineering (Shanghai) Ltd. Robotics and Motion No.

This manual is also suitable for:

Irb 1200-5/0.9Irb 1200-7/0.7

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