Irb 6700 PDF
Irb 6700 PDF
Irb 6700 PDF
IRB 6700
Trace back information:
Workspace R15-1 version a3
Checked in 2015-03-25
Skribenta version 4.1.349
Product specification
IRB 6700 - 235/2.65
IRB 6700 - 205/2.80
IRB 6700 - 200/2.60
IRB 6700 - 175/3.05
IRB 6700 - 155/2.85
IRB 6700 - 150/3.20
IRB 6700 - 300/2.70
IRB 6700 - 245/3.00
Document ID: 3HAC044265-001
Revision: D
Table of contents
Overview of this product specification ............................................................................................. 7
1 Description 9
1.1 Structure ......................................................................................................... 9
1.1.1 Introduction ............................................................................................ 9
1.1.2 Different robot versions ............................................................................ 12
1.1.3 Definition of version designations ............................................................... 13
1.2 Standards ........................................................................................................ 17
1.2.1 Applicable safety standards ...................................................................... 17
1.3 Installation ....................................................................................................... 19
1.3.1 Introduction to installation ......................................................................... 19
1.3.2 Operation requirements ............................................................................ 20
1.3.3 Assembling the manipulator ...................................................................... 21
1.4 Calibration and references .................................................................................. 28
1.4.1 Fine calibration ....................................................................................... 28
1.4.2 Absolute Accuracy calibration ................................................................... 29
1.5 Load diagrams .................................................................................................. 31
1.5.1 Introduction ............................................................................................ 31
1.5.2 Diagrams ............................................................................................... 32
1.5.3 Maximum load and moment of inertia for full and limited axis 5 (center line down)
movement .............................................................................................. 56
1.5.4 Wrist torque ........................................................................................... 58
1.6 Fitting equipment to the robot ............................................................................. 59
1.7 Maintenance and troubleshooting ......................................................................... 66
1.8 Robot motion .................................................................................................... 67
1.8.1 Robot motion .......................................................................................... 67
1.8.2 Performance according to ISO 9283 ............................................................ 77
1.8.3 Velocity ................................................................................................. 79
1.8.4 Robot stopping distances and times ........................................................... 80
1.9 Cooling fan for axis 1 motor ................................................................................ 81
1.10 Servo gun ........................................................................................................ 82
1.10.1 Introduction ............................................................................................ 82
1.10.2 Stationary gun ........................................................................................ 83
1.10.3 Robot gun .............................................................................................. 84
1.10.4 Robot gun and track motion ...................................................................... 85
1.10.5 Track motion .......................................................................................... 86
4 Accessories 165
4.1 Introduction to accessories ................................................................................. 165
Index 167
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
• Robot programmers
• Project leaders
• Design engineers
References
Reference Document ID
Product specification - Controller IRC5 3HAC047400-001
IRC5 with main computer DSQC1000.
Product specification - Controller software IRC5 3HAC048264-001
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 6700 3HAC044266-001
Product specification - Robot user documentation, IRC5 with RobotWare 3HAC052355-001
6
Revisions
Revision Description
- First release
A • The variants IRB 6700-200/2.60 and IRB 6700-155/2.85 are added.
• Minor corrections/updates
B • DressPack & SpotPack updated
Revision Description
C • Text for Foundry Plus updated.
• Two variants added, IRB 6700-300/2.70 and IRB 6700-245/3.00.
• Minor corrections/update
D • AbsAcc data added
• New loads for IRB 6700-300 and -245 added
• Values for power consumption, brakes engaged/disengaged added
• Tightening torque for robot adjusted
• The use of guide pins for robot base added
• Updated data (ISO, weight) for IRB 6700-200 and IRB 6700-155
1 Description
1.1 Structure
1.1.1 Introduction
General
The IRB 6700 serie is ABB Robotics 7:th generation of high payload, high
performance industrial robots. Based on the famous IRB 6640 series, with large
working range, the very high wrist torque, the service friendly modular built up and
the availability, significant for ABB’s robots, the IRB 6700 robot family goes even
further. With focus on high production capacity, compact design and low weight,
simple service and low maintenance cost. The IRB 6700 is ideal for process
applications, regardless of industry. Typical areas are for example Spot Welding,
Material Handling and Machine Tending.
Process options
There are a large number of process options for Spot Welding and Material Handling
integrated in the robot. For a complete description of process options for Spot
Welding see DressPack and SpotPack on page 87.
Operating system
The robot is equipped with the IRC5 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.
Safety
Safety standards valid for complete robot, manipulator and controller.
Additional functionality
For additional functionality, the robot can be equipped with optional software for
application support - for example gluing and 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 - Controller software IRC5.
Robot axes
(D)
(E)
(C)
(F)
(B)
(A)
xx1300000244
General
The IRB 6700 is available in eight versions.
Robot types
The following standard robot versions are available.
Robot type Handling capacity (kg) Handling capacity for LeanID (kg) Reach (m)
IRB 6700 235 kg 220 kg 2.65 m
IRB 6700 205 kg 200 kg 2.80 m
IRB 6700 200 kg 175 kg 2.60 m
IRB 6700 175 kg 155 kg 3.05 m
IRB 6700 155 kg 140 kg 2.85 m
IRB 6700 150 kg 145 kg 3.20 m
IRB 6700 300 kg 270 kg 2.70 m
IRB 6700 245 kg 220 kg 3.00 m
Note
If option 780-4, LeanID is selected, the payload will decrease as stated above,
for detailed information see Load diagrams on page 31
Manipulator weight
Type of movement 235/2.65 205/2.80 200/2.60 175/3.05 155/2.85 150/3.20 300/2.70 245/3.00
ISO Cube 2.7 2.6 2.6 2.8 2.7 2.7 3.4 3.2
Max. velocity (kW)
Robot in calibration position 235/2.65 205/2.80 200/2.60 175/3.05 155/2.85 150/3.20 300/2.70 245/3.00
Brakes engaged (kW) 0.16 0.17 0.15 0.16 0.15 0.16 0.15 0.15
Brakes disengaged (kW) 0.71 0.84 0.62 0.82 0.69 0.77 0.79 0.75
E1 E2
E4 E3
A
xx1000000101
Pos Description
A 1000 mm
Main dimensions
F
G
A
200
E
D
780
377
1009
B 745 C
360
J
1009
H
360
xx1300000241
Pos Description
A 200 mm (all standard variants); except IRB 300/2.70 and 245/3.00 =220 mm
350 mm (all LeanID variants, option 780-4); except IRB 300/2.70 and 245/3.00 =
380 mm
B Radius ax1, front side = 532 mm (IRB 6700-235/2.65, -205/2.80, -175/3.05, -
150/3.20, -200/2.60 and -155/2.85)
Radius ax1, front side = 600 mm (600 mm IRB 6700-300/2.70 and -245/3.00)
C Radius ax1, back side = 631.5 mm (IRB 6700-235/2.65, -205/2.80, -175/3.05, -
150/3.20, -200/2.60 and -155/2.85)
Radius ax1, back side = 600 mm (IRB 6700-300/2.70 and -245/3.00)
Robot variant D E F G H J
IRB 6700 - 235/2.65 2300 1135 1670 1182.5 209 186
IRB 6700 - 205/2.80 2445 1280 1670 1182.5 186 209
IRB 6700 - 200/2.60 2276 1125 1623 1142.5 197,5 193
IRB 6700 - 175/3.05 2300 1135 2080 1592.5 209 186
IRB 6700 - 150/3.20 2445 1280 2080 1592.5 209 186
IRB 6700 - 155/2.85 2276 1125 1873 1392,5 197.5 193
Robot variant D E F G H J
IRB 6700 - 300/2.70 2321 1145 1718.5 1212.5 222.5 187
IRB 6700 - 245/3.00 2321 1145 1968.5 1462.5 222.5 186
Note
For DressPack dimensions, see Dimensions for robot with DressPack on page 100
1.2 Standards
Standards, EN ISO
The robot system is designed in accordance with the requirements of:
Standard Description
EN ISO 12100 -1 Safety of machinery - Basic concepts, general principles for
design - Part 1: Basic terminology, methodology
EN ISO 12100 -2 Safety of machinery - Basic concepts, general principles for
design - Part 2: Technical principles
EN ISO 13849-1 Safety of machinery, safety related parts of control systems -
Part 1: General principles for design
EN ISO 13850 Safety of machinery - Emergency stop - Principles for design
EN IEC 60974-1 iii Arc welding equipment - Part 1: Welding power sources
EN IEC 60974-10 iii Arc welding equipment - Part 10: EMC requirements
European standards
Standard Description
EN 614-1 Safety of machinery - Ergonomic design principles - Part 1:
Terminology and general principles
EN 574 Safety of machinery - Two-hand control devices - Functional
aspects - Principles for design
EN 953 Safety of machinery - General requirements for the design and
construction of fixed and movable guards
Other standards
Standard Description
ANSI/RIA R15.06 Safety requirements for industrial robots and robot systems
ANSI/UL 1740 (option 429- Safety standard for robots and robotic equipment
1)
CAN/CSA Z 434-03 (option Industrial robots and robot Systems - General safety require-
429-1) ments
1.3 Installation
General
All versions of IRB 6700 are designed for floor mounting. Depending on the robot
version, an end effector with max. weight of 150 to 300 kg including payload, can
be mounted on the tool flange (axis 6). See Load diagrams on page 31.
Extra loads
Extra load (valve packages, transformers, DressPack) of 50 kg, which is included
in the load diagrams, can be mounted on the upper arm. An extra load of 250 kg
can also be mounted on the frame of axis 1.
See Fitting equipment to the robot on page 59.
Protection standards
Explosive environments
The robot must not be located or operated in an explosive environment.
Ambient temperature
Relative humidity
Maximum load
Maximum load in relation to the base coordinate system.
Floor mounted
xx1300000242
8x
8x 53
,5
49 30
16
4x
8x
8)
H
45
24
25
,5
3x
A
(
4x
20
4x
2x4
4x 45 H7
5°
0,12 4x 25 H8
0,12
D-D
4x 90° E-E
(A)
4x
800
15 ,5°
°
7
D
52,
5°
D
E
(A)
E
xx1300000243
Pos Description
A Holes for guide pins (x2)
Note
Cylindrical guide pin should be used in the right front of the base and the flattened
cylidrical guide pin should be used in left rear of the base, see Guide pins on
page 26.
Fastener quality
Note
Only two guide pins shall be used. The corresponding holes in the base plate
shall be circular according to figure Base plate drawing on page 23.
AbsAcc performance
Regarding AbsAcc performance, the use of guide pins are mandatory.
G H
(A)
B
D
D
800
12x M 24
B 1 A B
90°
10
4x 9
°
Ref A-B
3x 25
0°
448
90°
°
37,5
475
(B)
10°
A
E
°
7,5
A
2x
E
°
15
°
4x
25
4x
27
C C
F E
7)
H
1(
1
A
±
2x
20
18
1x
2x
45
+0,018 3x
1,6
2x 12H7 0 45 P7 -0,017
45 -0,042
0,1 A B 1,5
2
M
5
±1
E-E A-A
13
32
48
4x
xx1500000246
Pos Description
A Hole for guide pin, flattened cylidrical, see Guide pins on page 26
B Hole for guide pin, cylindrical, see Guide pins on page 26
E, F, G, H Common tolerance zone (accuracy all over the base plate from one contact
surface to the other)
B
23 47 +0
,5 0 ,5
,01 7
- 0 0,00
8
+
45 K7
1,6
3x
45
13
°
37,5
48
CL 2x R22,5 B-B
2x
R
3x 90°
3x
4
3x
R1
C-C
xx1500000247
2x 271
2x 774
87
69
5x M16
0
16x 22
923 ±1
878 896
855
786 773
721
538
( 950)
448
358
175
110 123
18 41 +3
-1
0 0 50
27±1
27
2x206
2x363
2x 543
2x726
2x 860
2x 904
87±1
933 ±1
50
0
(1020)
2x 119,9
2x 278,3
2x132,8
2x224,1
87
0
50x45° (2x)
25
R5
2x
804 813,9
784,6 784,8
697,2 680,1
681,9 672,5
2x 598
4x 18
16x R 50
2x 298
214,1 223,5
198,8 215,9
111,4 111,2
92 82,1
0 0
27 27
2x203
2x703
619
677
794
787,6
87
xx1500000249
Guide pins
25g6
(A)
15
18
12k6
25g6
15
(B)
18
12k6
XX1500000248
Pos Description
A Cylindrical guide pin
B Flattened cylindrical guide pin
(C)
(B)
90° ±2°
800
(A)
(B)
B-B B B
Pos Description
A Cylindrical guide pin
B M5 x 40. Tightening torque 6 Nm. (x2)
C Flattened cylindrical guide pin. Note the position of the guide pin, must be aligned
in the correct direction.
Note
All screws and pins are delivered in a plastic bag togheter with the base plate.
General
Fine calibration is made using the Calibration Pendulum, see Operating
manual - Calibration Pendulum.
(D)
(E)
(C)
(F)
(B)
(A)
xx1300000244
Axes
Calibration
Calibration Position
Calibration of all axes All axes are in zero position
Calibration of axis 1 and 2 Axis 1 and 2 in zero position
Axis 3 to 6 in any position
Calibration of axis 1 Axis 1 in zero position
Axis 2 to 6 in any position
General
Requires RobotWare option Absolute Accuracy, see Product
specification - Controller software IRC5 for more details.
Calibration data
The user is supplied with robot calibration data (compensation parameters saved
on the manipulator SMB) and a certificate that shows the performance (Birth
certificate). The difference between an ideal robot and a real robot without AbsAcc
may reach up to 8 mm, resulting from mechanical tolerances and deflection in the
robot structure.
If there is a difference at first start-up between the calibration data in the controller
and the robot SMB, correct it by copying the data from the SMB to the controller.
xx1300002177
Product data
Typical production data regarding calibration are:
Robot Positioning accuracy (mm)
Average Max % Within 1 mm
IRB 6700-235/2.55 0.35 0.75 100
IRB 6700-205/2.80 0.35 0.75 100
IRB 6700-200/2.60 0.35 0.75 100
IRB 6700-175/3.05 0.35 0.75 100
IRB 6700-155/2.85 0.35 0.75 100
IRB 6700-150/3.20 0.35 0.75 100
IRB 6700-300/2.70 0.35 0.75 100
IRB 6700-245/3.00 0.35 0.75 100
IRB 6700 LeanID (all 0.40 0.85 100
variants)
1.5.1 Introduction
WARNING
It is very important to always define correct actual load data and correct payload
of the robot. Incorrect definitions of load data can result in overloading of the
robot.
If incorrect load data and/or loads are outside load diagram is used the following
parts can be damaged due to overload:
• motors
• gearboxes
• mechanical structure
WARNING
In the robot system the service routine LoadIdentify is available, which allows
the user to make an automatic definition of the tool and load, to determine correct
load parameters.
See Operating manual - IRC5 with FlexPendant, for detailed information.
WARNING
Robots running with incorrect load data and/or with loads outside diagram, will
not be covered by robot warranty.
General
The load diagrams include a nominal payload inertia, J0 of 15 kgm 2 , and an extra
load of 50 kg at the upper arm housing.
At different arm load, payload and moment of inertia, the load diagram will be
changed.
Specific load diagrams are available for option 780-4 Int. Axis 3 to axis 6, LeanID,
due to larger offset in axis 6, the load diagram includes arm load from the SW
option, no extra load on upper housing allowed.
1.5.2 Diagrams
IRB 6700-235/2.65
0,80
0,70
120 kg
0,60 140 kg
165 kg
0,50
Z - (m)
190 kg
0,40
225 kg
230 kg
0,30
235 kg
240 kg
0,20
245 kg
0,10
0,00
200 mm
xx1300000245
o o
10 10
200 mm
Z
L - (m)
0,10 0,20 0,30 0,40 0,50 0,60 0,70
0,00
0,10
275 kg
0,20
265 kg
250 kg
0,30
Z - (m)
235 kg 210 kg
0,40
0,50
0,60
0,70
xx1300000246
Lmax 0.100 m
0,70
110 kg
0,60
130 kg
0,50
150 kg
Z - (m)
175 kg
0,40
200 kg
0,30
220 kg
225 kg
0,20
230 kg
0,10
0,00
0,10 0,20 0,30 0,40 0,50 0,60
350 mm
L - (m)
xx1300000248
IRB 6700-205/2.80
0,90
0,80 100 kg
0,70
125 kg
0,60
150 kg
0,50
175 kg
Z - (m)
195 kg
0,40
200 kg
0,30
205 kg
210 kg
0,20
215 kg
0,10
0,00
200 mm
xx1300000249
o o
10 10
200 mm
L - (m) Z
0,10
235 kg
0,20 225 kg
215 kg
0,30
Z - (m)
205 kg
195 kg
0,40
0,50
0,60
0,70
xx1300000250
Lmax 0.103 m
0,80
90 kg
0,70
110 kg
0,60
130 kg
0,50
Z - (m)
150 kg
0,40 175 kg
190 kg
0,30 195 kg
200 kg
0,20
205 kg
0,10
0,00
0,10 0,20 0,30 0,40 0,50 0,60
350 mm
L - (m)
xx1300000251
IRB 6700-200/2.60
0,80
0,70
90 kg
0,60
110 kg
0,50
130 kg
Z - (m)
0,40 155 kg
180 kg
0,30
200 kg
205 kg
0,20
210 kg
0,10
0,00
200 mm
xx1300000333
o o
10 10
200 mm
L - (m) Z
0,10
235 kg
0,20
220 kg
205 kg
0,30
160 kg
Z - (m)
0,40
120 kg
0,50
0,60
0,70
0,80
0,90
xx1300000334
Lmax 0.104 m
100 kg
0,60
120 kg
0,50
140 kg
Z - (m)
0,40
160 kg
0,30
175 kg
185 kg
0,20
190 kg
0,10
L - (m)
350 mm
xx1300000335
IRB 6700-175/3.05
0,90
0,80
100 kg
0,70
125 kg
0,60
150 kg
Z - (m)
0,50
160 kg
0,40
165 kg
170 kg
0,30
175 kg
0,20
180 kg
0,10
0,00
200 mm
xx1300000252
o o
10 10
L - (m)
200 mm
0,10
200 kg
0,20
190 kg
0,30
180 kg
Z - (m)
0,40
165 kg
0,50
140 kg
0,60
0,70
0,80
0,90
xx1300000253
Description
Max load 204 kg
Zmax 0.360 m
Lmax 0.101 m
0,80
85 kg
0,70
100 kg
0,60
120 kg
0,50
Z - (m)
140 kg
0,40 145 kg
150 kg
0,30
155 kg
0,20
160 kg
0,10
0,00
0,10 0,20 0,30 0,40 0,50 0,60 0,70
350 mm
L - (m)
xx1300000254
IRB 6700-155/2.85
0,80
0,70
90 kg
0,60
105 kg
0,50 125 kg
Z - (m)
145 kg
0,40
150 kg
0,30
155 kg
0,20 160 kg
0,10
0,00
200 mm
xx1300000336
o o
10 10
200 mm
L - (m) Z
0,10
180 kg
0,20
170 kg
0,30
160 kg
Z - (m)
150 kg
0,40
130 kg
0,50
0,60
0,70
0,80
xx1300000337
Description
Max load 186 kg
Zmax 0.327 m
Lmax 0.101 m
0,80
80 kg
0,70
0,60 100 kg
0,50
120 kg
Z - (m)
130 kg
0,40
135 kg
0,30
140 kg
0,20
145 kg
0,10
0,00
0,10 0,20 0,30 0,40 0,50
L - (m)
350 mm
xx1300000338
IRB 6700-150/3.20
1,10
1,00
80 kg
0,90
0,80
100 kg
0,70
120 kg
0,60
Z - (m)
140 kg
0,50
145 kg
0,40
0,30 150 kg
0,20 155 kg
0,10
0,00
200 mm
L - (m)
xx1300000255
o o
10 10
200 mm
L - (m)
Z
0,10 0,20 0,30 0,40 0,50 0,60 0,70 0,80 0,90 1,00 1,10
0,00
0,10
170 kg
0,20
160 kg
0,30
150 kg
0,40
140 kg
Z - (m)
0,50
110 kg
0,60
0,70
0,80
0,90
1,00
1,10
xx1300000256
Lmax 0.106 m
1,00
70 kg
0,90
0,80
90 kg
0,70
110 kg
Z - (m)
0,60
130 kg
0,50
135 kg
0,40
140 kg
0,30
0,20 145 kg
0,10
0,00
0,10 0,20 0,30 0,40 0,50 0,60 0,70 0,80
350 mm
L - (m)
xx1300000257
IRB 6700-300/2.70
0,90
0,80
150 kg
0,70
175 kg
0,60 200 kg
230 kg
0,50
Z - (m)
270 kg
0,40
290 kg
0,30
300 kg
0,20 310 kg
0,10
0,00
0,10 0,20 0,30 0,40 0,50 0,60
220 mm
L - (m)
xx1400002044
o o
10 10
L - (m)
220 mm
0,10
350 kg
330 kg
0,20 310 kg
0,30
Z - (m)
290 kg
0,40
250 kg
0,50
0,60
0,70
0,80
xx1400002045
Lmax 0.102 m
0,70
140 kg
0,60
165 kg
0,50
190 kg
Z - (m)
0,40
220 kg
250 kg
0,30
270 kg
280 kg 275 kg
0,20 285 kg
290 kg
0,10
0,00
0,10 0,20 0,30 0,40 0,50 0,60
380 mm
L - (m)
xx1400002046
IRB 6700-245/3.00
1,00
0,90
140 kg
0,80
0,70 170 kg
0,60
210 kg
Z - (m)
0,50
225 kg
0,40
235 kg
0,30
245 kg
0,20 250 kg
255 kg
0,10
0,00
0,10 0,20 0,30 0,40 0,50 0,60
220 mm
L - (m)
xx1400002041
o o
10 10
220 mm
Z
L - (m)
0,10 0,20 0,30 0,40 0,50 0,60 0,70 0,80 0,90 1,00 1,10 1,20
0,00
0,10
270 kg
0,20
250 kg 225 kg
0,30
0,40 185 kg
0,50
Z - (m)
0,60 150 kg
0,70
0,80
0,90
1,00
1,10
1,20
xx1400002042
Lmax 0.102 m
0,80
130 kg
0,70
150 kg
0,60
170 kg
Z - (m)
190 kg
0,50
205 kg
0,40 210 kg
215 kg
0,30 220 kg
225 kg
0,20
230 kg
0,10
0,00
0,10 0,20 0,30 0,40 0,50 0,60
380 mm
L - (m)
xx1400002043
1.5.3 Maximum load and moment of inertia for full and limited axis 5 (center line
down) movement
Note
Total load given as: mass in kg, center of gravity (Z and L) in meters and moment
of inertia (Jox, Joy, Joz ) in kgm 2 . L= sqr (X 2 + Y 2 ), see the following figure.
xx1400002028
Pos Description
A Center of gravity
Description
Jox, Joy, Joz Max. moment of inertia around the X, Y and Z axes at center of gravity.
xx1400002029
Pos Description
A Center of gravity
Description
Jox, Joy, Joz Max. moment of inertia around the X, Y and Z axes at center
of gravity.
Note
The values are for reference only, and should not be used for calculating permitted
load offset (position of center of gravity) within the load diagram, since those
also are limited by main axes torques as well as dynamic loads. Also arm loads
will influence the permitted load diagram. For finding the absolute limits of the
load diagram, use the ABB RobotLoad. Contact your local ABB organization.
Torque
The table below shows the maximum permissible torque due to payload.
Robot type Max wrist torque Max wrist torque Max torque valid at
axis 4 and 5 axis 6 load
IRB 6700-235/2.65 1324 Nm 650 Nm 225 kg
IRB 6700-205/2.80 1263 Nm 625 Nm 192 kg
IRB 6700-200/2.60 981 Nm 429 Nm 175 kg
IRB 6700-175/3.05 1179 Nm 589 Nm 154 kg
IRB 6700-155/2.85 927 Nm 410 Nm 144 kg
IRB 6700-150/3.20 1135 Nm 570 Nm 137 kg
IRB 6700-300/2.70 1825 Nm 865 Nm 280 kg
IRB 6700-245/3.00 1693 Nm 815 Nm 214 kg
General
Extra loads can be fitted on the upper arm housing, the lower arm, and on the
frame. Definitions of distances and masses are shown in the following figures. The
robot is supplied with holes for fitting extra equipment (see figure in Holes for fitting
extra equipment on page 62). Maximum allowed arm load depends on center of
gravity of arm load and robot payload.
xx1300000262
Upper arm
Allowed extra load on the upper arm housing, in addition to the maximum handling
weight, is M1 ≤ 50 kg with a distance (a) ≤ 500 mm from the center of gravity in the
axis-3 extension.
M1
a
(A)
M1
xx1400002019
A Mass center
(A)
400
200
xx1300000866
A Center of gravity 50 kg
(150)
(109) (2x M12) 12
(150)
(2x M12)
J
D A
H 160
3x M10
C
40
80 0,3
197
80
190
CL Axis 5 90
4x M12 22 B
2x M8 16 100
J M12 19
106 (4x M12 22)
328
K
B 53
CL Axis 3
110 2x M12 19 L
220 B
K
CL Axis 4
M12 20
13
8
M
R117
4x
52, 5 °
5° 52, (M12 19) (2x M12 19)
N M
A-A B-B
xx1300000263
A Allowed position for attachment holes, M12 through. Be careful not to touch the cables when drilling.
Variant IRB B C D E F G H J K L M N
6700 Smallest circum-
scribed radius ax-
is-4
-235/2.65 R=216 270 400 652.5 365 437 349 147 33 102 104 210
-205/2.80 R=216 270 400 652.5 365 437 349 147 33 102 104 210
-175/3.05 R=216 270 400 652.5 365 437 349 147 33 102 104 210
-150/3.20 R=216 270 400 652.5 365 437 349 147 33 102 104 210
-200/2.60 R=204.5 270 400 650.5 365 437 315 143 43 102 95 210
-155/2.85 R=204.5 270 400 650.5 365 437 315 143 43 102 95 210
-300/2.70 R=230 310 450 652.5 376 467 405 152 12 117 98.5 215.5
-245/3.00 R=230 310 450 652.5 376 467 405 152 12 117 98.5 215.5
CL Axis 3 H
(2x M8)
B 2x M8
265
30 D
465
(M8) M8
C
(2x M8)
2x M8 E
D CL Axis 2
50 33
4x M10 20
60
L
(2x M8)
(2x M8)
C-C
A 190 M
90
D
328
80
40
2x M8 12
CL Axis 5
100
xx1300000264
Variant IRB A B C D E F G H J K L M
6700 Smallest circum-
scribed radius axis-
3
-235/2.65 R=456 433 418 403 80 208.5 186 255 320 303.5 500 13.8
-205/2.80 R=456 438 423 408 80 208.5 186 255 320 303.5 500 13.8
-175/3.05 R=456 433 418 403 80 208.5 186 255 320 303.5 500 13.8
-150/3.20 R=456 438 423 408 80 208.5 186 255 320 303.5 500 13.8
-200/2.60 R=440 425 410 395 113 197 193 255 320 303.5 500 13.8
-235/2.65 R=440 425 410 395 113 197 193 255 320 303.5 500 13.8
-300/2.70 R=468 453 438 423 80 222.5 187 265 350 273.5 523.5 15
-245/3.00 R=468 453 438 423 80 222.5 187 265 350 273.5 523.5 15
A
12 H7 15 100 H7 11x M12
C
0.05 B 0.3 B C
1x45
10
23
B
B-B
B 12x
30°
160
B
xx1300000280
Fastener quality
Use suitable screws and tightening torque for your application, screws with quality
class 12.9 are recommended.
200 h8
E
0,3 E F
11xM12 18
100 H7)
160
0,07 E
F
12 H7 15
30°
A 100 H7
8(
12x
C C
C-C
xx1300000290
Fastener quality
Use suitable screws and tightening torque for your application, screws with quality
class 12.9 are recommended.
General
The robot requires only minimum 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 gearboxes.
• The cabling is routed for longevity, and in the unlikely event of a failure, its
modular design makes it easy to change.
Maintenance
The maintenance intervals depend on the use of the robot. The required
maintenance activities also depend on the selected options. For detailed information
on maintenance procedures, see the maintenance section in Product manual - IRB
6700.
Type of motion
xx1300001587
Working range
3114
320
1187 920
1908 2650
xx1300000281
3259
308
1281 958
2039 2794
xx1300000282
3065
282
1150 911
1859 2601
xx1300000341
3520
726
1527 1109
2314 3056
xx1300000283
3312
529
1352 994
2106 2848
xx1300000340
3665
713
1604 1067
2445 3200
xx1300000284
3154
349
1187 957
1850 2720
xx1400001137
3399
596
1518 1057
2097 2967
xx1400001138
General
At rated maximum load, maximum offset and 1.6 m/s velocity on the inclined ISO
test plane, with all six axes in motion. Values in the table below are the average
result of measurements on a small number of robots. The result may differ
depending on where in the working range the robot is positioning, velocity, arm
configuration, from which direction the position is approached, the load direction
of the arm system. Backlashes in gearboxes also affect the result.
The figures for AP, RP, AT and RT are measured according to figure below.
xx0800000424
1.8.3 Velocity
Axis resolution
0.001° to 0.005°.
Introduction
The stopping distances and times for category 0 and category 1 stops, as required
by EN ISO 10218-1 Annex B, are listed in Product specification - Robot stopping
distances according to ISO 10218-1 (3HAC048645-001).
Option 87-1
To be used to avoid overheating of motors and gears in applications with intensive
motion (high average speed and /or high average torque and/or short wait time)
of axis 1.
Valid protection for cooling fan is IP54. Fan failure stops the robot. The option is
not allowed to select when the robot is placed on a track motion, IRBT.
To determine the use of cooling fan for axis 1 motor use the function "Gearbox
Heat Prediction Tool" in RobotStudio. Reliable facts for the decision of need for
fan or not will be achieved by entering the ambient temperature for a specific cycle.
Contact your local ABB organization.
1.10.1 Introduction
General
The robot can be supplied with hardware and software for control of the following
configurations:
• Stationary Gun
• Robot Gun
• Robot Gun and Track Motion
• Track Motion
The specific parts related to the servo motor control for electrical welding guns
and for track motion configurations are shown in the conceptual pictures below.
The major parts and required options are also stated in the configurations lists
below each picture.
The cables for control of the basic robot are shown in the pictures with dotted lines.
General
xx1000000507
Options
Options according to the table below are required to complete the delivery. For
further details on each option see corresponding product specification.
Option Description Product specifica-
tion
785-5 Stationary gun. This option includes cable G (7 m
length) for resolver signals from robot base (FB7)
to stationary gun/axis 7.
864-1 Resolver connection, axis 7, on base.
907-1 First additional drive. Drive unit for 7th axis with Product specifica-
corresponding cables assembled inside drive mod- tion - Controller
ule. IRC5
786-1, -2, -3, -4 Connection to first drive.
Cable A (7-30 m) between drive module and station-
ary gun/axis 7 for servo drive power.
635-3, -4, or -5 Spot Servo, Spot Servo Multiple Guns, or Spot Servo Product specifica-
Equalizing. tion - Controller
IRC5
General
xx1000000506
Option
Options according to table below are required to complete the delivery. For further
details on each option see corresponding product specification.
Option Description Product specification
785-1 Robot gun. This option includes cables within
manipulator for servo power signals (servo
gun/axis 7).
907-1 First additional drive. Drive unit for 7th axis with Product specifica-
corresponding cables assembled inside drive tion - Controller IRC5
module.
786-1, -2, -3, -4 Connection to first drive. Cable A (7-30 m)
between drive module and robot base for servo
drive power.
635-3, -4, or -5 Spot Servo, Spot Servo Multiple Guns, or Spot Product specifica-
Servo Equalizing. tion - Controller IRC5
General
Axis 7
FB7
B SMB
Control
SMB
Module
Axis 8 M
F
Drive
Module E
xx1000000505
Options
Options according to table below are required to complete the delivery. For further
details on each option see corresponding product specification.
Option Description Product specification
785-1 +1002-2 i Robot Gun - Track Motion. This option in- Product specifica-
cludes cables within manipulator for servo tion - IRBT
power signals (servo gun/axis 7). 4004/6004/7004
Track motion deliv- Serial measurement box (SMB2, Split box) Product specifica-
ery includes for distribution of servo power to axis 8. tion - IRBT
The box is placed on the track motion. 4004/6004/7004
Cables from serial measurement box to track
motion.
Cable B for servo power (1.5 m length).
Connection to first and second drive.
Cable E and F (7-22 m) between drive module
and serial measurement box for dual servo
drive power/resolver signals.
907-1 First additional drive. Drive unit for 7th axis Product specifica-
with corresponding cables assembled inside tion - Controller IRC5
drive module.
907-1 Second additional drive. Drive unit for 8th Product specifica-
axis with corresponding cables assembled tion - Controller IRC5
inside drive module.
635-3, -4, or -5 Spot Servo, Spot Servo Multiple Guns, or Product specifica-
Spot Servo Equalizing. tion - Controller soft-
ware IRC5
864-1 Resolver connection, axis 7, on base (FB7).
i To specify robot on track equipped with servo gun. Option 1002-2 from specification form for track
motion.
General
The robot can be supplied with a track motion, see Product specification - IRBT
4004/6004/7004. For configuration and specification of hardware see the following
figure.
FB7
SMB
Control Axis 7 M
Module
Drive E
Module
xx1000000504
Options
Options according to table below are required to complete the delivery. For further
details on each option see corresponding product specification.
Option Description Product specification
Track motion Serial measurement (SMB) in manipulator is Product specifica-
delivery in- used, together with option 864-1, FB7 for signals tion - IRBT
cludes to axis 7/Track motion. 4004/6004/7004
Cable E for between Drive Module and track
motion servo for drive power.
907-1 First additional drive. Drive unit for 7th axis with
corresponding cables assembled inside drive
module.
864-1 Resolver connection, axis 7, on base (FB7).
DressPack
Includes options for upper arm, lower arm and floor pos C, D and E, see the
following figure. These are described separately below but are designed as a
complete package for various applications.
The DressPack for the floor contains customer signals.
The DressPack for upper and lower arm contains process cable packages including
signals, process media (water and/or air) and power feeding (for spot welding
power) for customer use.
Necessary supports and brackets are also included.
The routing of the process cable package on the robot is available in different
configurations.
SpotPack
The package supplies the transformer gun/gripper with necessary media, such as
compressed air, cooling water and electrical power. It includes the above described
DressPack + Spot Welding cabinet, Water And Air unit pos A and F (if included)
and software, see the following figure.
(A)
(E)
(D)
(F)
(C)
(B)
xx1300001588
Pos Description
A SpotPack, spot welding cabinet
B Robot controller, (including 7th axis drive for servo gun)
C DressPack, floor
D DressPack, lower arm
E DressPack, upper arm
F SpotPack, water and air unit
xx1300000285
Integrated
This type of dress pack is intended for a production where there are many complex
wrist movements and the need for flexibility in changing products is high.
Available options are 798-3 and 780-4 for material handling/spot welding, the LeanID
concept.
External
This type of dress pack is recommended where there are less complexity in wrist
movements. This normally occurs when there are not many different products
running in the production cell. This package requires more individual adjustment
to optimize towards robot program at set up.
Available options are 798-3 and 780-3 for material handling.
General
When using DressPack options on the upper arm the robot movements will be
limited.
• In bending backwards positions there are limitations due to interference with
manipulator or Water and Air unit (if such is mounted).
• Might restrict working range, see Working range axis 5 and axis 6 for LeanID,
option 780-4 on page 68.
Note
General
There are some robot movements/positions that shall be avoided in the robot
production program. This will improve the lifetime significantly of external upper
arm DressPack and wear parts e.g. protection hose, hose reinforcement and
protective sleeves.
• The axis 5 movement is not allowed to press the DressPack against the robot
upper arm.
• Combined rotation of the wrist axes must be limited so that the DressPack
is not wrapped hard against the upper arm.
See the Product Manual for more detailed information and recommended set-up
adjustments.
General
The information for SpotPack and DressPack is structured in the following way.
The SpotPack and DressPack can be delivered in five versions developed for two
different applications. Each type is described in a separate section.
Section Option Description
2.2 DressPack DressPack includes general description DressPack with
common information.
Connector kits
2.2 DressPack
2.2.1 Introduction
External
Material handling (option 780-3):
• Internal routing through the rear part of the upper arm.
• Protection hose can easily be replaced if damaged.
• One version for all IRB 6700 versions.
• Adjustment for optimal hose/cable lengths.
Internal
Spot Welding and Material handling (option 780-4):
• Partly internal routing through the upper arm.
• Suitable for complex movements.
• High demands for flexibility and accessibility.
• Longer lifetime.
• Predictable movements.
• Easy exchange of DressPack.
General
Below is an overview showing the different DressPack options connection points,
and their locations. For detailed information see the circuit diagram, Product Manual
DressPack/SpotPack IRB 6700.
(B)
(C)
(A)
xx1300000224
Base
Material handling (option 798-3), see figure below:
• Included are: A, B (if applicable), one D (Proc 1) and E (if applicable).
Spot welding (option 798-3), see figure below:
• Included are: A, B (if applicable), C, D (Proc 1-4) and E (if applicable).
(E) (D)
xx1000000619
For corresponding parts of the tool, see Connection kits on page 142.
Pos Description
A R1.CP/CS
B R1.SP (Spot Welding Servo gun) or FB7 (Resolver connection)
C R1.WELD 3x35mm 2 . (Spot Welding)
D R1.PROC 1 (Material Handling/Spot Welding 1/2”, M22x1.5, 24 degree seal)
R1.PROC 2 - 4 (Spot Welding 1/2”, M22x1.5, 24 degree seal)
E R1.ETHERNET (M12 connector, when EtherNet communication is selected)
Axis 3
Material Handling (option 798-3), see figure below:
• Included are: A, B/G (if applicable) and one C (Proc 1).
Spot welding (option 798-3), see figure below:
• Included are: A, D, B/E/F/G (if applicable) and C (Proc 1-4).
(G)
R2.ETHERNET R2.CBUS
R2.CP/CS
(A)
(C)
xx1200000072
For corresponding parts of the tool, see Connection kits on page 142.
Pos Description
A R2.CP/CS
B R2.ETHERNET (M12 connector, when EtherNet communication is selected)
C R2.PROC 1 (Material Handling 1/2”, M22x1.5, 24 degree seal)
R2.PROC 2-4 (Spot Welding 1/2”, M22x1.5, 24 degree seal)
D R2.WELD 3x35mm 2 (Spot Welding)
E R2.FB7
F R2.SP (Spot Welding Servo gun)
G R2.CBUS (UTOW connector when Profibus or DeviceNet communication is
selected)
Axis 6
External
Material handling (option 780-3), see figure below:
• Hose and cable free length, min. 1000 mm.
• Air hose ends with free end.
The cable ends with a connector, the main parts are described in the list below
(for corresponding parts of the tool, see Connection kits on page 142):
xx0900000728
EtherNet connector
Material handling (option 780-3), see figure below:
• Cable free length, min. 1000 mm.
• Signals are connected with a M12 connector.
The different main parts within the connector are described in the list below, both
with name and Harting article number (for corresponding parts of the tool, see
within the Harting product offer).
Name Harting article
PIN connector, R3.ETHERNET 21 03 882 1405
PIN 61 03 000 0094
Sealing cap M12x1 3HAC033600-001 ABB article
xx1100000956
Integrated
Material Handling/Spot Welding option 780-4 (LeanID), see figure below:
• Hose and cable free length, min. 1160 mm.
• Hoses and weld power cable (only for spot welding) end with free end.
The cable ends with connectors, for corresponding parts of the tool, see Connection
kits on page 142 and within the UTOW product offer.
(D) (C)
xx1200000117
Pos Description
A R3.CP/CS (UTOW connector 26p) Customer signals and power
B R3.ETHERNET (M12 connector) EtherNet signals (when EtherNet communic-
ation is selected)
C R3.PROC 1-2 (1/2”, freeend) R3.PROC 2-4 (3/8”, free end) Media hoses
D R3.WELD 3x25mm 2 (Free end) Spot Welding power
E R3.FB7 (M23 connector 17p) Servo motor power (when Spot Welding Servo
gun is selected)
F R3.SP (M23 connector 8p) Servo motor feedback (when Spot Welding Servo
gun is selected)
G R3.CBUS (UTOW connector 10p) BUS signals (when Profibus or DeviceNet
communication is selected)
2.2.4 Dimensions
323 520
xx1300000286
650 360
120 600
580
xx1300000287
2.3.1 Introduction
General
Variant Type H is designed for Material Handling (MH) application and HS(e) to
handling parts against a stationary Spot Welding gun (pneumatic or servo
controlled). Included modules are shown in Figure below.
(A)
(G)
(F)
(D)
(E)
(C)
(H)
(B)
xx1300002178
Pos Name
A Spot Welding cabinet For type HS and HSe
B Robot Cabinet IRC5 Incl. 7:th axis drive for servo gun, HSe
C DressPack, Floor
D DressPack, Lower arm
E Water and Air unit with hoses
F DressPack, Upper arm For type H, HS and HSe
G Robot Gripper
H Stationary gun Pneumatic or servo controlled, HS and HSe
Option description
The available alternatives and allowed combinations are shown in the schematic
Figures below.
Applicatioon Inter- Option 455-1 Option 94-X Option 778-1
face connected to Parallel communication Cable length, Material Handling
Option 16-1, Cabinet Parallel communication
Option 455-4 Option 90-X
Parallel and bus commu- Option 92-X
nication Cable length, Parallel
and bus communication
Option 455-8 Option 859-X
Parallel and Ethernet Cable length, Ethernet
communication communication
DressPack
Lower arm Upper arm
Option 778-1. Option 798-3, Base to axis 3 Option 780-3, Axis 3 to 6
Material Handling External routing
Option 780-4, Axis 3 to 6
Internal routing
General
Depending on the choice of options above the DressPack will have different content.
The choice of routing will not affect the content. See tables for signal content below.
Media
Air (PROC 1) 1 12.5 mm Max. air pressure
inner dia- 16 bar/230 PSI
meter
i For option 780-3 50 VAC / 60 VDC.
ii For option 780-3, 8 signals instead of 12.
xx1000000381
Additional options to the different Spot Welding cabinets are mentioned below.
For further technical details as well as restrictions in combinations see Spot Welding
cabinet on page 127
General
The interface towards the stationary gun includes 3 common parts and 2 extra for
servo gun.
Common parts:
• Signal interface with a signal connector type modular Harting
(Cable option 809-1, -2).
• Power cable with a Multi Contact interface (Cable option 791-1 or option
791-2)
(Ending Multi contact type MC TSB 150/35).
• Water and air connections made by the customer directly on the water and
air unit. See Water and air unit on page 134.
Extra for servo gun:
• Servo power cable (Option 786-1,-2,-3 or -4). Cable goes from robot control
cabinet to stationary gun and ends with a 23 pin Souriau connector (Type
UT 061823SH).
• Resolver signal cable, 7 m length (included in option 785-5). Cable goes from
robot foot R3.FB7 to stationary gun and ends with 8 pin Souriau connector
(Type UT 06128SH)
The connector configurations are described in the circuit diagram included in the
Product Manual DressPack/SpotPack IRB 6700, art No. 3HAC044266-001.
The Harting connector is shown below. The different main parts within the connector
are showed both with name and Harting article number. Corresponding parts at
the tool are available within the Harting product offer.
Name Harting article No.
Hood 09 30 010 0543
Hinged frame, hood 09 14 010 0303
Multicontact, female (HD) 09 14 025 3101
Multicontact, female (DD) 09 14 012 3101
Multicontact, female (EE) 09 14 008 3101
For the contacts above corresponding female crimp-contacts for the different cable
diameters are required.
xx0900000738
796-1 i Electrical proportional Offers a proportional valve with cables and additional
valve for air hoses.
797-1 Cable to split box, 7 m Offers floor cable of 7 m length for signals between
the cabinet and to the split box placed on the water
and air unit.
797-2 Cable to split box, 15 m Offers floor cable of 15 m length for signals between
the cabinet and to the split box placed on the water
and air unit.
797-3 Cable to split box, 22 m Offers floor cable of 22 m length for signals between
the cabinet and to the split box placed on the water
and air unit.
797-4 Cable to split box, 30 m Offers floor cable of 30 m length for signals between
the cabinet and to the split box placed on the water
and air unit.
i Not used together with type HSe.
General
The following options are the minimum required to form a complete SpotPack Type
H/HS/HSe:
• Option 16-1. Connection to cabinet (Cable length and communication type
to be stated)
• Option 455-1, 455-4 or 455-8. Parallel, Parallel and Bus communication or
EtherNet (Communication type to be stated)
• Option778-1. Material Handling
• Option 798-3. DressPack Lower arm (Routing type to be stated)
• Option 780-3, -4. DressPack Upper arm (Routing type to be stated)
General options
• Option 716-1. 1 pc. Digital 24 VDC I/O 16 inputs/ 16 outputs (not needed for
option 782-13 Bosch MFDC ProfiNet)
• Option 727-1. 24V 8 Amps power supply
• Option 635-1. Spot (only for type HS)
Servo gun
• Option 907-1. First additional drive
• Option 785-5. Stationary gun
• Option 786-1. Connection to first drive (other lengths available)
• Option 635-3. Spot Servo. Software option for servo controlled gun
2.4.1 Introduction
General
Variant Type S is designed for robot handled pneumatic gun and Se is designed
for robot handled servo-controlled tool (electrical gun). Included modules are shown
in Figure below. Available configurations with linked option numbers are described
below.
(A)
(E)
(D)
(F)
(C)
(B)
xx1300002179
Position Name
A Spot Welding cabinet
B Robot Cabinet IRC5 (including 7th axis drive), Se
C DressPack, Floor
D DressPack, Lower arm
E DressPack, Upper arm
F Water and Air unit with hoses
Available configurations with linked option numbers are described below. To achive
the specific servo motor connections within the DressPack for Type Se option
785-1 Robot gun must also to be chosen. See Robot gun on page 84 for details.
Option description
DressPack
Lower arm Upper arm
Option 778-2 Option 798-3, Base to axis 3 Option 780-4, Axis 3 to 6
Spot Welding External routing Internal routing
General
Depending on the choice of options above (combined with option 785-1 Robot gun)
the DressPack will have different content. The choice of routing will not affect the
content. See tables for signal content below.
The table below shows the available type of wires/media for type Se.
Type Se At terminals At connection Cable/part Allowed capacity
in cabinet point. Base, ax- area
is 2/3 or axis 6
Customer Power (CP)
Utility Power 2+2 2+2 0.75 mm 2 250 VAC, 5 A rms
Protective earth 1 0.75 mm 2 250 VAC
Customer Signals (CS)
Signals twisted pair 12 12 (6x2) 0.2 mm 2 50 V DC, 1 A rms
The table below shows the available type of wires/media for type Se.
Type Se At terminals At connection Cable/part Allowed capacity
in cabinet point. Base, ax- area
is 3 or axis 6
Customer Power (CP)
Utility Power 2+2 2+2 0.75 mm 2 250 VAC, 5 A rms
Protective earth 1 0.75 mm 2 250 VAC
Customer signals (CS)
Signals twisted pair 12 12 (6x2) 0.2 mm 2 50 V DC, 1 A rms
The table below shows the available type of wires/media for type Se.
Type Se At terminals At connection Cable/part Allowed capacity
in cabinet point. Base, ax- area
is 3 or axis 6
Customer Power (CP)
Utility Power 2+2 2+2 0,75 mm 2 250 VAC, 5 A rms
Protective earth 1 0,75 mm 2 250 VAC
Customer signals (CS)
Signals twisted pair 12 12 (6x2) 0,2 mm 2 50 V DC, 1 A rms
The table below shows the available type of wires/media for type Se.
Type Se At terminals At connection Cable/part Allowed capacity
in cabinet point. Base, ax- area
is 2/3 or axis 6
Customer Power (CP)
Utility Power 2+2 2+2 0.75 mm 2 250 VAC, 5 A rms
Protective earth 1 0.75 mm 2 250 VAC
Customer signals (CS)
Signals twisted pair 12 12(6x2) 0.2 mm 2 50 V DC, 1 A rms
xx1000000381
Additional options to the different Spot Welding cabinets are mentioned below.
For further technical details as well as restrictions in combinations see Spot Welding
cabinet on page 127
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General
The following options are the minimum required to form a complete SpotPack Type
S/Se:
• Option 16-1. Connection to cabinet, (Cable length and communication type
to be stated)
• Option 455-1, 455-4 or 455-8. Parallel, Parallel and Bus communication or
EtherNet (Communication type to be stated)
• Option 778-2. Spot Welding
• Option 798-3. External routing, DressPack Lower arm
• Option 780-4 Internal routing, DressPack Upper arm
General options
• Option 716-1. 1 pc. Digital 24 VDC I/O 16 inputs/ 16 outputs (not needed for
option 782-13 Bosch MFDC ProfiNet)
• Option 727-1. 24V 8 Amps power supply
• Option 635-1. Spot. (only for type S)
2.5.1 Introduction
General
The Spot Welding cabinet for SpotPack contains the electric components and
circuits needed for spot welding application. The Spot Welding cabinet, with the
welding controller built in, is controlled from the robot controller via the process
software. The capacity and functionality depends on the choice of different option
combinations.
The Spot Welding cabinet is designed to be placed on top of the robot controller
cabinet (Single cabinet version option 700-3), see Figure below. This is also how
it is assembled at delivery.
xx1000000443
There are interface cables between the robot control cabinet and the Spot Welding
cabinet (cable length 1,5 m, connected at rear of the control cabinet and at front
of Spot Welding cabinet). These cables includes power feeding for control circuits,
process signals to the welding gun, safety signals, communication towards weld
timer and I/O:s for indication and control. Depending on chosen options wiring will
differ (see option descriptions below for further details).
The Spot Welding cabinet has the following common main features.
• Modular built for easy repair and installation (see Figure below)
• Rotary switch with adjustable thermal release (not for UL option) and short
circuit release
Continues on next page
Product specification - IRB 6700 127
3HAC044265-001 Revision: D
© Copyright 2015 ABB. All rights reserved.
2 DressPack and SpotPack
2.5.1 Introduction
Continued
• Cross connection of signal handling with separate fusing for different circuits
to achive selectivity
• Programmable weld timer with proportional valve control
• A compact cabinet family based on a common platform prepared for additional
options and for easy exchange
xx1000000450
Control Circuits
Power feeding 240/115 V AC and 24 V DC for the control circuits is fed from the
robot controller cabinet. Also, the safety circuits in the robot controller cabinet are
used to interlock the welding timer.
A welding timer (Bosch), integrated with the air cooled thyristor or inverter, controls
the welding current. The welding timer includes control program that gives
possibility to program different weld sequences. The programming is normally
done on a programming device or a PC that is connected directly to the welding
timer. The interface between the robot system and the welding timer is handled
via a field bus interface (Can DeviceNet or ProfiNet). Examples of signals are weld
start, weld ready, weld program choice and error handling.
Also, cross connections, of interface signals and interlocking between the robot
system (I/O-boards), the water and air unit, signals to DressPack or stationary gun,
are done within the Spot Welding cabinet.
Programming device for the welding timer is not included in the delivery.
If the option 744-1 is chosen there will follow a door interlock with the Spot Welding
cabinet. If option 429-1 is chosen a circuit breaker type T3 will be supplied.
Note
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Pos Description
A Weld contactor
General
The interface towards the Spot Welding cabinet is described in the tables below.
2.6.1 Introduction
General
The Water and Air unit contains components for water and air distribution and
control within the SpotPack. The water and air unit is controlled from the robot
controller via the process software. Wiring is made via the Spot Welding cabinet.
The capacity and functionality depends on the choice of different option
combinations, see water and air unit options under this chapter.
The unit is only used for the spot welding application
xx0900000748
The standard water and air unit consists of four main assemblies.
• Water in circuit
• Water return circuit
• Air supply circuit
• Split box
Cables and hoses required for Water and Air unit are defined and described under
each option for water and air unit.
Water in circuit
The function of the water in circuit is to open / close the cooling water supply to
the Spot welding gun (see figure below). An electrical 2 port solenoid valve is used.
The valve is controlled by a digital signal from the robot control system.
The circuit begins from left to right with a lead in hole in the mounting plate, a G
½" thread is used for the connection of the factory water supply system, electrical
2 port solenoid valve and ends with a Parker Pushlock adapter. (Suitable for a
Parker Pushlock DIN 20 078 A, we recommend a Parker Pushlock 39C82-15-8BK
fitting). From this point the water is led to the gun/robot base.
xx0900000749
It is also equipped with a flow control valve; the flow control can adjust the water
flow to the desired flow level. The flow rate can be monitored by the scale on the
flow control valve. The scale can be rotated so that easy reading can be performed.
This will serve as a rough function check in the flow range between 1 to 8 litres
per minute.
The flow control valve is when delivered adjusted for maximum flow.
The circuit ends with a check-valve that will stop any reversing water flow and ends
with an internal G ½" thread. From this point the water is led to the factory water
system.
xx0900000750
A second water return, option 793-1, is also available with the same specification
as above.
The air supply circuit ends with a Parker Pushlock adapter (suitable for a Parker
Pushlock DIN 20 078 A, we recommend a Parker Pushlock 39C82-15-8BK fitting).
xx0900000751
xx0900000752
Mounting
Type S, robot mounted spot welding gun, is mounted at the robot at factory and
water and air hoses are included and connected to the robot base.
xx0900000754
Type HS, robot handles part against a pedestal mounted spot welding gun, the
Water and Air panel is delivered in a box together with the robot.
xx0900000756
The cable and cable length between the Split box and the Spot Welding cabinet
must be specified (see option 797-1,-2,-3,-4). See Circuit diagram in Product
manual - DressPack/SpotPack IRB 6700
Option Type Description
792-1 Water and Air unit, type S The basic water and air unit for type S is equipped
for a robot handled gun and with the following com-
ponents:
Water in circuit
Water return circuit
Air supply circuit
Split box
1/2 " hose between air supply circuit and manipulator
base (PROC 1)
1/2 " hose between water in circuit and manipulator
base (PROC 2)
1/2 " hose between water return circuit and manipu-
lator base (PROC 3)
792-2 Water and Air unit, type HS The basic water and air unit for type HS is equipped
for a pedestal/stationary gun.
Hoses between water and air unit, welding equip-
ment and robot are not supplied. These have to be
arranged by the customer.
793-1 Second water return The option adds an additional water return circuit.
See Water return circuit.
An additonal 1/2” water hose (PROC 4) from the
Water and Air unit to manipulator base is included.
796-1 Electrical proportional valve Offers a proportional valve with integrated control
air Eq. circuit and connection cable to the splitbox.
797-1 Cable to split box, 7 m Offers floor cable of 7 m length for signals to the
split box placed on the water and air unit. This cable
is connected to the cabinet with a modular Harting
and it ends with a quick connector at the split box.
797-2 Cable to split box, 15 m Offers floor cable of 15 m length for the split box.
See description of option 797-1.
797-3 Cable to split box, 22 m Offers floor cable of 22 m length for the split box.
See description of option 797-1.
797-4 Cable to split box, 30 m Offers floor cable of 30 m length for the split box.
See description of option 797-1.
General data
Water Description
Operating pressure Max. 0.6 MPa / 87PSI
Proof pressure 1.2 MPa / 174 PSI
Maximum pressure drop < 0.2 MPa at 8 litre/minute i
Flow regulating (each circuit) 1 - 16 l/min
Flow setting range -0.100 - 1.000 MPa
Water quality Normal filtred industrial water 80 to 100 mesh.
i The pressure drop is measured under the following conditions:
• Measuring point 1: Incoming water connection at water and air unit.
• Measuring point 2: Outgoing water connection at water and air unit.
The water hoses (Proc 2 and Proc 3) are cross-connected at the end at axis 6 (the
pressure drop is measured without any tool).
Air Description
Operating pressure Max. 1.0 MPa / 145 PSI
Flow capacity Max. 5800 litres/min. (at 0.7 MPa with a 0.1 MPa
pressure drop
Pressure switch set range - 0.100 - 1.000 MPa
Air quality Use clean air.
When there is excessive condensate, install a device
that eliminates water such as dryer or water separator
(Drain Catch) on the inlet side of the air filter.
General
For detailed information on connection location see Interface descriptions for
DressPack on page 95
Below is an example of how a connector kit and its parts can look like.
xx1300000223
Available options
Note
Option 453-1, FB 7
R3. FB 7 on base for option 864-1
This option offers a kit with a connector. This must be assembled by the customer.
The kit contains:
• Connector with:
1 pcs Multiple connector (pin) UTOW
1 pcs Adaptor 8 pin
8 pcs Pin for 0,13-0,25 mm 2
Assembly Accessories to complete connector
Assembly instruction
Available options
Available options
Description
Option Name 780-3 780-4
(MH 3) (LeanID)
543-1 CP/CS/CBUS/SP/SS Proc 1 axis 6 X X UTOW
452-1 Weld Proc 1-4 axis 6 X MC, Seperate
conductors
General
The different variants and options for the IRB 6700 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.
For the software options see Product specification - Controller software IRC5.
3.2 Manipulator
Variants
Manipulator color
Note
Notice that delivery time for painted spare parts will increase for none standard
colors.
Protection types
Warranty
Note
3.3 Equipment
General
Synchronization labels
The option contains labels for each axis. Below is an example of the synchronization
labels.
xx1300001127
(A)
xx1400002039
Pos Description
A Option 430-1
(B) (A)
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Pos Description
A Two mechanical stops
B Bolt tightening torque: 60 Nm
General
Additional floor cables for SpotPack options, see Floor cables on page 155.
Option Lengths
210-2 7m
210-3 15 m
210-4 22 m
210-5 30 m
Connection to
Communication
Note
For more information about the process cable packages, see DressPack on
page 93
Note
If option 780-4, LeanID, is selected the payload will decrease, for detailed
information see Load diagrams on page 31
General
The connectors fit to the connectors at the manipulator base, axis 3 and 6
respectively.
Content
The kit consists of connectors, pins and sockets. For technical description, see
Connection kits on page 142.
Content
For technical description see Servo gun on page 82.
Option Lengths
785-1 For robot handled Servo Gun.
785-2 For Stationary Servo Gun.
Option Lengths
786-1 7m
786-2 15 m
786-3 22 m
786-4 30 m
Empty cabinet
Process cabinet
Adaptive control
3.13 Documentation
4 Accessories
4.1 Introduction to accessories
General
There is a range of tools and equipment available, especially designed for the
manipulator.
Robot peripherals
• Track Motion
• Motor Units
Index O
options, 149
A P
accessories, 165 protection standards, 17
C S
Calibration Pendulum, 28 safety standards, 17
category 0 stop, 80 service instructions, 164
category 1 stop, 80 standards
ANSI, 18
D CAN, 18
documentation, 164
EN, 17
E EN IEC, 17
Electronic Position Switches, 153 EN ISO, 17
EPS, 153 safety, 17
equipment, on robot, 59 standard warranty, 150
stock warranty, 150
F stopping distances, 80
fine calibration, 28 stopping times, 80
fitting equipment to robot, 59
U
H user documentation, 164
holes for equipment, 59
V
I variants, 149
instructions, 164
W
M warranty, 150
manuals, 164
3HAC044265-001, Rev D, en
ABB AB
Discrete Automation and Motion
Robotics
S-721 68 VÄSTERÅS, Sweden
Telephone +46 (0) 21 344 400
www.abb.com/robotics