IRB 4400 M2000 Rev3

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Product Specification
IRB 4400
3HAC 9117-1 / Rev 3
M2000
The information in this document is subject to change without notice and should not be construed as a
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Products AB, Robotics assumes no responsibility for any errors that may appear in this document.
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consequential damages arising from use of this document or of the software and hardware described
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Robotics at its then current charge.
© Copyright 2001 ABB. All rights reserved.
Article number: 3HAC 9117-1/Rev 3
Issue: M2000
ABB Automation Technology Products AB
Robotics
SE-721 68 Västerås
Sweden
Product Specification IRB 4400
CONTENTS
Page
1 Description ....................................................................................................................... 3
1.1 Structure.................................................................................................................. 3
Different robot versions ......................................................................................... 4
Definition of version designation........................................................................... 4
1.2 Safety/Standards ..................................................................................................... 8
1.3 Installation .............................................................................................................. 10
Operating requirements.......................................................................................... 10
Mounting the manipulator...................................................................................... 10
Load diagrams........................................................................................................ 12
Mounting equipment IRB 4400/45, 4400/60, 4400/S and 4400/L30 .................... 16
Mounting equipment 4400/L10 ............................................................................. 17
1.4 Maintenance and Troubleshooting ......................................................................... 19
1.5 Robot Motion.......................................................................................................... 20
Performance according to ISO 9283...................................................................... 24
Velocity .................................................................................................................. 24
Resolution .............................................................................................................. 24
1.6 Signals .................................................................................................................... 24
Signal connections on robot arm............................................................................ 24
2 Specification of Variants and Options........................................................................... 25
3 Accessories ....................................................................................................................... 31
4 Index ................................................................................................................................. 33
Product Specification IRB 4400 M2000
1
Product Specification IRB 4400
2
Product Specification IRB 4400 M2000
Description
1 Description
1.1 Structure
The IRB 4400 is a 6-axis industrial robot, designed specifically for manufacturing
industries that use flexible robot-based automation. The robot has built-in process
ware, an open structure that is specially adapted for flexible use, and can communicate
extensively with external systems.
The IRB 4400 comes in several different versions, with handling capacities of up to
60 kg, a maximum reach of 2.5 m, floor or shelf-mounted manipulators as well as
manipulators for harsh environments.
The robot versions Foundry and Wash are suitable for operating in harsh environments
and have special surface treatment and paint for excellent corrosion protection. The
connectors are designed for severe environment, and bearings, gears and other
sensitive parts are high protected. The robots have the FoundryPlus protection which
means that the hole manipulator is IP67 classified and steam washable.
The Clean Room robots are classified for clean room class 100 according to US Federal
Standard 209.
The robot is equipped with the operating system BaseWare OS. BaseWare OS controls
every aspect of the robot, like motion control, development and execution of
application programs communication etc. See Product Specification S4Cplus.
For additional functionality, the robot can be equipped with optional software for
application support - for example gluing and arc welding, communication features network communication - and advanced functions such as multitasking, sensor control
etc. For a complete description on optional software, see the Product Specification
RobotWare Options.
Axis 5
Axis 4
Axis 6
Axis 3
Axis 2
Axis 1
Figure 1 The IRB 4400 manipulator has 6 axes.
Product Specification IRB 4400 M2000
3
Description
Different robot versions
The IRB 4400, as mentioned above, is available in different versions depending on its
arm length, handling capacity, environment adaptation or the way it is mounted. The
following different robot types are available:
Pay load/ Standard
Mounting
45 kg
IRB 4400/45
60 kg
IRB 4400/60
30 kg
IRB 4400/L30
10 kg
IRB 4400/L10
30 kg/Shelf IRB 4400/S
Foundry
Wash
Clean Room
IRB 4400F/45
IRB 4400F/60
IRB 4400F/L30
IRB 4400F/L10
IRB 4400F/S
IRB 4400CW/45
IRB 4400CW/60
IRB 4400CW/L30
IRB 4400CW/L10
IRB 4400CW/S
IRB 4400CR/45
IRB 4400CR/60
IRB 4400CR/L30
IRB 4400CR/L10
IRB 4400CR/S
Definition of version designation
IRB 4400 Protection / Version Handling capacity
Prefix Description
Protection
F or CW
Version
Handling capacity
CR
L
S
Manipulator adapted for use in harsh environments
(e.g. foundry or washable robot is required)
Manipulator is clean room classified
Long arm
Shelf mounted manipulator
Indicates the maximum handling capacity (kg)
Manipulator weight IRB 4400/45
IRB 4400/60
IRB 4400/L10
IRB 4400/S
IRB 4400/L30
985 kg
1040 kg
1040 kg
1290 kg
1060 kg
Airborne noise level:
The sound pressure level outside
the working space
4
< 70 dB (A) Leq (acc. to
Machinery directive 89/392 EEC)
Product Specification IRB 4400 M2000
Description
IRB 4400/45
IRB 4400/60
IRB 4400/S
IRB 4400/L30
R
15
B
B
880 for 4400/45 and /60
1380 for 4400/S and 4400/L30
140
3
300
A
A
35
A-A
140
310
144
890
M8 (2x)
1720
25
25
75
680
25
200
D=105
75
50
730
920
18
124
D=130
221
25°
106
122
D=232
B-B
Figure 2 View of the manipulator from the side (dimensions in mm).
Product Specification IRB 4400 M2000
5
Description
IRB 4400/45
IRB 4400/60
IRB 4400/S
IRB 4400/L30
958
640
R
5
56
Figure 3 View of the manipulator from above (dimensions in mm).
6
Product Specification IRB 4400 M2000
Description
IRB 4400/L10
300
1500
85
A
148
A
128
168
R
98
.5
890
1720
A-A
680
200
730
920
D=105
82
78
640
958
D=121
R
56
5
Figure 4 View of the manipulator from the side and above (dimensions in mm).
Product Specification IRB 4400 M2000
7
Description
1.2 Safety/Standards
The robot conforms to the following standards:
EN 292-1
Safety of machinery, terminology
EN 292-2
Safety of machinery, technical specifications
EN 954-1
Safety of machinery, safety related parts of control
systems
EN 60204
Electrical equipment of industrial machines
IEC 204-1
Electrical equipment of industrial machines
ISO 10218, EN 775
Manipulating industrial robots, safety
ANSI/RIA 15.06/1999
Industrial robots, safety requirements
ISO 9787
IEC 529
EN 50081-2
EN 61000-6-2
ANSI/UL 1740-1996 (option)
CAN/CSA Z 434-94 (option)
Manipulating industrial robots, coordinate systems
and motions
Degrees of protection provided by enclosures
EMC, Generic emission
EMC, Generic immunity
Standard for Industrial Robots and Robotic
Equipment
Industrial Robots and Robot Systems - General
Safety Requirements
The robot complies fully with the health and safety standards specified in the EEC’s
Machinery Directives.
The robot is designed with absolute safety in mind. It has a dedicated safety system
based on a two-channel circuit which is monitored continuously. If any component
fails, the electrical power supplied to the motors shuts off and the brakes engage.
Safety category 3
Malfunction of a single component, such as a sticking relay, will be detected at the next
MOTOR OFF/MOTOR ON operation. MOTOR ON is then prevented and the faulty
section is indicated. This complies with category 3 of EN 954-1, Safety of machinery safety related parts of control systems - Part 1.
Selecting the operating mode
The robot can be operated either manually or automatically. In manual mode, the robot
can only be operated via the teach pendant, i.e. not by any external equipment.
Reduced speed
In manual mode, the speed is limited to a maximum of 250 mm/s (600 inch/min.).
The speed limitation applies not only to the TCP (Tool Centre point), but to all parts of
the robot. It is also possible to monitor the speed of equipment mounted on the robot.
Three position enabling device
The enabling device on the teach pendant must be used to move the robot when in
manual mode. The enabling device consists of a switch with three positions, meaning
8
Product Specification IRB 4400 M2000
Description
that all robot movements stop when either the enabling device is pushed fully in, or
when it is released completely. This makes the robot safer to operate.
Safe manual movement
The robot is moved using a joystick instead of the operator having to look at the teach
pendant to find the right key.
Over-speed protection
The speed of the robot is monitored by two independent computers.
Emergency stop
There is one emergency stop push button on the controller and another on the teach
pendant. Additional emergency stop buttons can be connected to the robot’s safety
chain circuit.
Safeguarded space stop
The robot has a number of electrical inputs which can be used to connect external
safety equipment, such as safety gates and light curtains. This allows the robot’s safety
functions to be activated both by peripheral equipment and by the robot itself.
Delayed safeguarded space stop
A delayed stop gives a smooth stop. The robot stops in the same way as at a normal
program stop with no deviation from the programmed path. After approx. 1 second the
power supplied to the motors shuts off.
Collision detection (option)
In case an unexpected mechanical disturbance like a collision, electrode stik etc
appears, the robot will stop and slightly back off from its stop position.
Restricting the working space
The movement of each axis can be restricted using software limits.
Axes 1-2 can also be restricted by means of mechanical stops and axis 3 by an
electrically switch (option).
Hold-to-run control
“Hold-to-run” means that you must depress the start button in order to move the robot. When
the button is released the robot will stop. The hold-to-run function makes program testing
safer.
Fire safety
Both the manipulator and control system comply with UL’s (Underwriters Laboratory)
tough requirements for fire safety.
Safety lamp (option)
The robot can be equipped with a safety lamp mounted on the manipulator. This is
activated when the motors are in the MOTORS ON state.
Product Specification IRB 4400 M2000
9
Description
1.3 Installation
All the versions of IRB 4400 are designed for floor mounting except one version for
shelf-mounting. Depending on robot version an end effector of max. weight 10 to
60 kg, including payload, can be mounted on the mounting flange (axis 6). See Load
diagram on page 12.
Extra loads can be mounted on the upper arm and on the base. Holes for mounting extra
equipment on page 16 and page 17.
The working range of axes 1-2 can be limited by mechanical stops and axis 3 by limit
switches. Position switches can be supplied on axis 1 for position indicator of
manipulator.
Operating requirements
Protection standards
IEC529
Standard and Clean Room Manipulator IP54
IRB 4400F and Wash Manipulator
IP67, steam washable
Clean room standards
Clean room manipulator US Federal Standard 209, class 100.
Explosive environments
The robot must not be located or operated in an explosive environment.
Ambient temperature
Manipulator during operation
+5oC (41oF) to +45oC (117oF)
Complete robot during transportation and storage, -25oC (13oF) to +55oC (131oF)
for short periods (not exceeding 24 hours)
up to +70oC (158oF)
Relative humidity
Complete robot during transportation and storage Max. 95% at constant temperature
Complete robot during operation
Max. 95% at constant temperature
Mounting the manipulator
Maximum load in relation to the base coordinate system.
Endurance load
in operation
Force xy
± 7500 N
± 9000 N
+9500 ± 2000 N
+9500 ± 3000 N
Torque xy
± 14000 Nm
± 16000 Nm
Torque z
± 2000 Nm
± 4000 Nm
Force z
10
Max. load at
emergency stop
Product Specification IRB 4400 M2000
Description
X
D=22
D=22
Z = centre line axis 1
355
Y
Z
A
245
A
58
20
0.25
The same dimensions
285
D=35
+0.039
-0
H8
(2X)
Section A - A
285
View from the bottom of the base
Figure 5 Hole configuration (dimensions in mm).
Product Specification IRB 4400 M2000
11
Description
Load diagrams
Load diagram for IRB 4400/45
Z (mm)
600
500
20 kg
400
30 kg
300
40 kg
45 kg
200
100
L (mm)
100
200
300
140
Z = see the above diagram and the coordinate system in the Product Specification S4Cplus
L = distance in X-Y plane from Z-axis to the centre of gravity
J = maximum own moment of inertia on the total handle weight = max. 2.5 kgm2
Figure 6 Maximum weight permitted for load mounted on the mounting flange at different positions
(centre of gravity).
12
Product Specification IRB 4400 M2000
Description
Load diagram for IRB 4400/60
Z (mm)
500
400
35 kg
300
45 kg
60 kg 55 kg
200
100
L (mm)
100
200
300
140
Z = see the above diagram and the coordinate system in the Product Specification S4Cplus
L = distance in X-Y plane from Z-axis to the centre of gravity
J = maximum own moment of inertia on the total handle weight = max. 2.5 kgm2
Figure 7 Maximum weight permitted for load mounted on the mounting flange at different positions
(centre of gravity).
Product Specification IRB 4400 M2000
13
Description
Load diagram for IRB 4400/S and IRB 4400/L30
Z (mm)
600
500
20 kg
400
30 kg
300
200
100
L (mm)
100
200
300
140
Z = see the above diagram and the coordinate system in the Product Specification S4Cplus
L = distance in X-Y plane from Z-axis to the centre of gravity
J = maximum own moment of inertia on the total handle weight = max. 1.3 kgm2
Figure 8 Maximum weight permitted for load mounted on the mounting flange at different positions
(centre of gravity).
14
Product Specification IRB 4400 M2000
Description
Load diagram for IRB 4400/L10
Z (mm)
200
6 kg
150
8 kg
100
10 kg
50
L (mm)
100
150
200
85
Z = see the above diagram and the coordinate system in the Product Specification S4Cplus
L = distance in X-Y plane from Z-axis to the centre of gravity
J = maximum own moment of inertia on the total handling weight = ≤0.040 kgm2
Figure 9 Maximum weight permitted for load mounted on the mounting flange at different positions
(centre of gravity).
Product Specification IRB 4400 M2000
15
Description
Mounting equipment IRB 4400/45, 4400/60, 4400/S and 4400/L30
A
175
250
A
M8 (2x) Used if
option 043 is chosen M8 (3x)
Depth of thread 14
Depth of thread 9
150
300
B
D
38.5 77
25
50
300
D
390
150
20o
B-B
340
Max. 15 kg
144
115
15
B
54
571 for 4400/45 and /60
1071 for 4400/S and 4400/L30
29.5
29.5
110
106
200
M6 (2x)
D-D
tapped depth 12
A-A
Max. 5 kg for 4400/45 and /60 at max. handl.weight
5 kg for 4400/S and 4400/L30 if
handling weight is max. 25 kg
0 kg if handling weight is 30 kg
M8 (3x), R=92
Depth 16
(If option 623 is chosen
these holes are occupied)
195
C
D=100
o
120 (3x)
Max. 35 kg
except for 4400/S
(0 kg for 4400/S)
15o
C-C
C
Figure 10 The shaded area indicates the permitted positions (centre of gravity) for any extra equipment
mounted in the holes (dimensions in mm).
16
Product Specification IRB 4400 M2000
Description
Mounting equipment 4400/L10
A
175
M6 (2x)
Depth of thread 9
M8 (3x)
Depth of thread 14
150
300
B
390
38.5
77
250
A
25
20o
B-B
150
Max. 15 kg
115
110
B
54
1221
M5 (2x)
300
D=240
22
110
78
A-A
43
Max. 2 kg
M8 (3x), R=92
Depth 16
(If option 623 is chosen
these holes are occupied)
195
C
D=100
120o (3x)
Max. 35 kg
15o
C-C
C
Figure 11 The shaded area indicates the permitted positions (centre of gravity) for any extra equipment
mounted in the holes (dimensions in mm).
Product Specification IRB 4400 M2000
17
Description
IRB 4400/45
IRB 4400/60
IRB 4400/S
IRB 4400/L30
A
+0.015
D=8 -0
o
A
M10 (6x)
30
8
0.05 A
D=125 -0.063
o
60
60 o
D=63
0
+0.045
0
o
60
60 o
R50
9
60o
15
A
A-A
Figure 12 The mechanical interface, mounting flange (dimensions in mm).
IRB 4400/L10
A
+0.012
D=6 -0
H7
The hole can go through
0.05 B
o
30
B
8
+0
-0.046 h8
R=25
D=63
D=31,5 +0.039
H8
-0
60 o
5x
M6 (6x)
A
7
A-A
Figure 13 The mechanical interface, mounting flange (dimensions in mm).
18
Product Specification IRB 4400 M2000
Description
1.4 Maintenance and Troubleshooting
The robot requires only a minimum of maintenance during operation. It has been
designed to make it as easy to service as possible:
- Maintenance-free AC motors are used.
- Oil is used for the gear boxes.
- The cabling is routed for longevity, and in the unlikely event of a failure, its
modular design makes it easy to change.
The following maintenance is required:
- Changing filter for the transformer/drive unit cooling every year.
- Changing batteries every third year.
The maintenance intervals depends on the use of the robot. For detailed information on
maintenance procedures, see Maintenance section in the Product Manual.
Product Specification IRB 4400 M2000
19
Description
1.5 Robot Motion
Type of motion
Axis 1
Axis 2
Axis 3
Axis 4
Axis 5
Axis 6
Range of movement
+165o
+95o
+65o
+200o
+120o
+400o
Rotation motion
Arm motion
Arm motion
Wrist motion
Bend motion
Turn motion
-165o
-70o
-60o
-200o
-120o
-400o
to
to
to
to
to
to
Z
IRB 4400/45 and /60
140
880
300
Pos 1
Pos 0
232
(150)
Pos 5
890
Pos 6
2140
1720
Pos 2
680
Pos 3
X
Pos 4
290
370
200
390
(1223)
530
732
1955
Pos Positions (mm)
X
Z
no
1080
1720
0
887
2140
1
836
708
2
221
1894
3
-126
570
4
1554
51
5
1210
227
6
Angles (degrees)
Axis 2
Axis 3
0
0
0
-30
65
0
-60
95
40
95
40
-70
65
-70
Figure 14 The extreme positions of the robot arm IRB 4400/45 and /60 (dimensions in mm).
20
Product Specification IRB 4400 M2000
Description
Type of motion
Axis 1
Axis 2
Axis 3
Axis 4
Axis 5
Axis 6
Range of movement
+115o
+90o
+65o
+200o
+120o
+400o
Rotation motion
Arm motion
Arm motion
Wrist motion
Bend motion
Turn motion
IRB 4400/S
Z
-115o
-70o
-60o
-200o
-120o
-400o
to
to
to
to
to
to
0
30
Pos 0
0
68
2
23
1529*
0
14
Pos 5
20
17
80
13
)
40
(10 0
89
Pos 1
Pos 6
0-30o
90
23
1291*
1453*
181
Pos 2
0
53
Pos 4
1344*
0
37
0
39
9
97
Pos 3
8
70
X
0
20
Dimensions marked with * valid at 30o
*
53
14
32
24
Pos Positions (mm)
X
Z
no
0
1580
1720
1
1320
2390
383
919
2
120
2360
3
-417
239
4
1804
484
5
1254
725
6
Angles (degrees)
Axis 2
Axis 3
0
0
0
-30
65
0
-60
90
44
90
40
-70
65
-70
Figure 15 The extreme positions of the robot arm IRB 4400/S (dimensions in mm).
Product Specification IRB 4400 M2000
21
Description
Type of motion
Axis 1
Axis 2
Axis 3
Axis 4
Axis 5
Axis 6
Range of movement
Rotation motion
Arm motion
Arm motion
Wrist motion
Bend motion
Turn motion
+165o
+95o
+65o
+200o
+120o
+400o
-165o
-70o
-60o
-200o
-120o
-400o
to
to
to
to
to
to
IRB 4400/L30
Pos 1
140
Z
300
1380
Pos 0
Pos 5
232
(150)
Pos 6
2390
890
1720
Pos 2
18
4
680
X
Pos 3
786
Pos 4
370
1453
979
200
390
530
2432
Pos Positions (mm)
X
Z
no
0
1580
1720
1
1320
2390
383
2
919
-66
3
2303
-448
4
180
1804
5
484
1254
6
725
Angles (degrees)
Axis 2
Axis 3
0
0
0
-30
65
0
-60
95
42
95
40
-70
65
-70
Figure 16 The extreme positions of the robot arm IRB 4400/L30 (dimensions in mm).
22
Product Specification IRB 4400 M2000
Description
Type of motion
Axis 1
Axis 2
Axis 3
Axis 4
Axis 5
Axis 6
Range of movement
Rotation motion
Arm motion
Arm motion
Wrist motion
Bend motion
Turn motion
IRB 4400/L10
+165o
+95o
+65o
+200o
+120o
+400o
to
to
to
to
to
to
-165o
-70o
-60o
-200o
-120o
-400o
Pos 1
Z
85
1500
300
Pos 0
Pos 5
148
(150)
Pos 6
890
2450
1720
680
Pos 2
X
Pos 3
390
530
905
Pos 4
300
200
1070
(1477)
2547
Pos Positions (mm)
X
Z
no
0
1700
1720
1
1424
2450
274
2
970
-135
3
2401
-786
4
500
1864
5
588
1265
6
845
Angles (degrees)
Axis 2
Axis 3
0
0
0
-30
65
0
-60
95
24
95
40
-70
65
-70
Figure 17 The extreme positions of the robot arm IRB 4400/L10 (dimensions in mm).
Product Specification IRB 4400 M2000
23
Description
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, IRB 4400/45 and /60:
RP = 0.07 mm
Unidirectional pose repeatability, others:
RP = 0.1 mm
Linear path accuracy:
AT = 0.8 - 1.3 mm
Linear path repeatability:
RT = 0.25 - 0.4 mm
Minimum positioning time, to within 0.5 mm of the position:
0.2 - 0.35 sec. (on 35 mm linear path)
0.45 - 0.6 sec. (on 350 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
Axis no.
1
2
3
4
5
6
IRB 4400/45/60/L30
IRB 4400/L10
150o/s
120o/s
120o/s
225o/s
250o/s
330o/s
150o/s
150o/s
150o/s
370o/s
330o/s
381o/s
There is a supervision function to prevent overheating in applications with intensive
and frequent movements.
Resolution
Approx. 0.01o on each axis.
1.6 Signals
Signal connections on robot arm
For connection of extra equipment on the manipulator, there are cables integrated into
the manipulator’s cabling, one FCI UT07 14 12SH44N connector and one
FCI UT07 18 23SH44N connector on the rear part of the upper arm.
Hose for compressed air is also integrated into the manipulator. There is an inlet
(R1/4”) at the base and an outlet (R1/4”) on the rear part of the upper arm.
Signals
Power
Air
24
23
10
1
50 V, 250 mA
250 V, 2 A
Max. 8 bar, inner hose diameter 8 mm
Product Specification IRB 4400 M2000
Specification of Variants and Options
2 Specification of Variants and Options
The different variants and options for the IRB 4400 are described below.
The same numbers are used here as in the Specification form. For controller options, see
Products Specification S4Cplus, and for software options, see Product Specification
RobotWare Options.
1 MANIPULATOR
021
022
023
024
025
Standard
Option 035
IRB 4400/45
IRB 4400/60
IRB 4400/L30
IRB 4400/L10
IRB 4400/S
Foundry
Option 036
IRB 4400F/45
IRB 4400F/60
IRB 4400F/L30
IRB 4400F/L10
IRB 4400F/S
Wash
Option 128
IRB 4400CW/45
IRB 4400CW/60
IRB 4400CW/L30
IRB 4400CW/L10
IRB 4400CW/S
Clean Room
Option 127
IRB 4400CR/45
IRB 4400CR/60
IRB 4400CR/L30
IRB 4400CR/L10
IRB 4400CR/S
Manipulator colour
330 Protection Standard and Foundry have colour ABB Orange
and protection Clean Room and Wash have colour white
352 The manipulator is painted with the chosen RAL-colour.
Protection
035 Standard
036 Foundry
Robot adapted for foundry or other harsh environments.
The robot has the FoundryPlus protection which means that the whole manipulator is
IP67 classified and steam washable. An excellent corrosion protection is obtained by a
special coating. The connectors are designed for severe environment, and bearings,
gears and other sensitive parts are high protected.
The robot is labeled with “Foundry Plus”.
127 Clean Room
Robot with clean room class 100 according to US Federal Standard 209 and with the
same protection as in option 035.
Standard colour is white. The robot is labeled with “Clean Room”.
128 Wash
Robot with the same protection as in option 036.
Standard colour is white.
Product Specification IRB 4400 M2000
25
Specification of Variants and Options
APPLICATION INTERFACE
Air supply and signals for extra equipment to upper arm
041 Integrated hose and cables for connection
of extra equipment on the manipulator to
the rear end of the upper arm.
042 Hose and cables for connection of extra
equipment are continuing to the wrist on
the outside of the upper arm.
Not available for options 023-025.
Connection to
056 Manipulator
The signals are connected directly to the manipulator base to one 40-pins Harting
connector.
057 Cabinet
The signals are connected to 12-pole screw
terminals, Phoenix MSTB 2.5/12-ST-5.08,
to the the controller.
If 042
If 43x
If 057
Connection to cabinet (Cable lengths)
675
676
677
678
7m
15m
22m
30m
Tool System
116 Tool system 4412
The robot is dressed with automatic tool changer, swivel, slip ring unit, valve unit and
hose/cable guide. The tool system 4412 contain two air ducts.
This option is not available with IRB 4400/L30, IRB 4400/S, IRB 4400/L10 or
Protection Foundry.
For more information, see Product Specification Tool System 4400 M98/M99/M00.
118 Tool attachment 4412 is used together with Tool System 4412.
Maximum 5 can be ordered.
Tool attachment
Figure 18 Tool system 4412.
26
Product Specification IRB 4400 M2000
Specification of Variants and Options
117 Tool system 4412E
The robot is dressed with automatic tool changer, swivel, slip ring unit, valve unit and
hose/cable guide. The tool system 4412E contain two air ducts and twelve signals.
This option is not available with IRB 4400/L30, IRB 4400/S, IRB 4400/L10 or
Protection Foundry.
For more information, see Product Specification Tool System 4400 M98/M99/M00.
119 Tool attachment 4412E is used together with Tool System 4412E.
It has two air ducts leading to the tool and is provided with one half of a docking contact
with twelve poles. The other half of the docking contact is located on the slip ring unit
4412E. The signals are available through a 0.5 m cable with flying wire. Maximum 5
can be ordered.
Tool attachment
Figure 19 Tool system 4412E
EQUIPMENT
691 Safety lamp
A safety lamp with an orange fixed light can be mounted on the manipulator.
The lamp is active in MOTORS ON mode.
The safety lamp is required on a UL/UR approved robot.
058 Dressing
Mounting of extra equipment, e.g. tool system on robot before delivery, ordered from
ABB Flexible Automation/Department U.
POSITION SWITCH
Switches indicating the position of axis 1. Designs with 1, 2 or 3 adjustable switches are
available. The switches are manufactured by Telemecanique or Bernstein and of type
forced disconnect.
The position switch device is delivered as a kit to be assembled when installing the
robot. Assembly instruction is included.
Note! These options may require safety arrangements, e.g. light curtains, photocells or
contact mats.
Note! The switches are not recommended to be used in severe environment with sand
or chips.
069 One switch
071 Three switches
Controller
Figure 20 Connections of the switches
Product Specification IRB 4400 M2000
27
Specification of Variants and Options
Connection to
075 Manipulator
Connection on the manipulator base with one FCI 23-pin connector.
076 Cabinet
Connection on the cabinet wall. Position switch cables are included.
The signals are connected to 12-pole screw terminals, Phoenix MSTB 2.5/12-ST5.08
078
079
080
081
Cable lengths
7m
15m
22m
30m
CONNECTOR KIT
Detached connectors, suitable to the connectors for the application interface and position
switches.
The kit consists of connectors, pins and sockets.
045 For the connectors on the upper arm
046 For the connectors on the foot if connection to manipulator, option 056
048 For connection to position switches and connection to manipulator, option 075 and
position switch(es).
WORKING RANGE LIMIT
To increase the safety of the robot, the working range of axes 1, 2 and 3 can be restricted.
061 Axis 1
Two extra stops for restricting the working
range.The stops can be mounted within the area from 65o to 125o. See Figure 21.
65o
65o
125o
125o
Figure 21
062 Axis 2
Stop lugs for restricting the working range.
Figure 22 illustrates the mounting positions
of the stops.
Note! 5o is not valid for 4400F/S.
28
Product Specification IRB 4400 M2000
Specification of Variants and Options
5o 10o
35o
40o
65o
Figure 22
063 Axis 3
Equipment for electrically restricting the working range in increments of 5o.
Product Specification IRB 4400 M2000
29
Specification of Variants and Options
30
Product Specification IRB 4400 M2000
Accessories
3 Accessories
There is a range of tools and equipment available, specially designed for the robot.
Basic software and software options for robot and PC
For more information, see Product Specification S4Cplus, and Product Specification
RobotWare Options.
Robot Peripherals
- Track Motion
- Tool System
- Motor Units
Product Specification IRB 4400 M2000
31
Accessories
32
Product Specification IRB 4400 M2000
Index
4 Index
N
A
noise level 4
accessories 31
air supply 26
O
C
operating requirements 10
options 25
overspeed protection 9
connector kit 28
cooling device 4
P
E
emergency stop 9
enabling device 8
equipment
mounting 16, 17
permitted extra load 16, 17
extra equipment
connections 26
F
fire safety 9
H
hold-to-run control 9
humidity 10
I
installation 10
L
load 10
load diagrams 12
payload 10
performance 24
protection standards 10
R
range of movement
working space 20, 21, 22, 23
reduced speed 8
repeatability 24
Robot Peripherals 31
robot versions 4, 25
S
safeguarded space stop 9
delayed 9
safety 8
safety lamp 9, 27
service 19
service position indicator 27
signal connections 24, 26
space requirements 4
standards 8
structure 3
T
M
maintenance 19
manipulator colours 25
mechanical interface 18
motion 20
mounting
extra equipment 16, 17
robot 10
mounting flange 18
temperature 10
Tool System (option) 26
troubleshooting 19
V
variants 25
W
working space
restricting 9, 10, 28
Product Specification IRB 4400 M2000
33
Index
34
Product Specification IRB 4400 M2000
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