ABB Robotics IRB 1200 Owner's manual

ROBOTICS
Product specification
IRB 1200

Trace back information:
Workspace R17-2 version a19 (not checked in)
Published 2017-10-17 at 04:42:58
Skribenta version 5.1.011

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.

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.
In no event shall ABB be liable for incidental or consequential damages arising from
use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB's
written permission.
Keep for future reference.
Additional copies of this manual may be obtained from ABB.
Original instructions.
© Copyright 2017 ABB. All rights reserved.
ABB AB, Robotics
Robotics and Motion
Se-721 68 Västerås
Sweden

Table of contents
7Overview of this specification ..........................................................................................................
91 Description
91.1 Structure ......................................................................................................... 91.1.1 Introduction to structure ........................................................................... 141.1.2 The robot ............................................................................................... 171.2 Standards ........................................................................................................ 171.2.1 Applicable standards ............................................................................... 191.3 Installation ....................................................................................................... 191.3.1 Introduction to installation ......................................................................... 201.3.2 Operating requirements ............................................................................ 211.3.3 Mounting the manipulator ......................................................................... 241.4 Load diagram ................................................................................................... 241.4.1 Introduction to load diagram ...................................................................... 251.4.2 Load diagram ......................................................................................... 291.4.3 Maximum load and moment of inertia for axis 5 ............................................ 311.5 Fitting of equipment ........................................................................................... 311.5.1 Introduction to fitting of equipment ............................................................. 321.5.2 Holes for fitting extra equipment ................................................................ 361.6 Calibration ....................................................................................................... 361.6.1 Fine calibration ....................................................................................... 371.6.1.1 Absolute Accuracy calibration ........................................................ 391.7 Maintenance and troubleshooting ......................................................................... 391.7.1 Introduction to maintenance and trouble shooting ......................................... 401.8 Robot motion .................................................................................................... 401.8.1 Working range and type of motion .............................................................. 431.8.2 Performance according to ISO 9283 ............................................................ 441.8.3 Velocity ................................................................................................. 451.8.4 Stopping distance / time ........................................................................... 461.9 Customer connections .......................................................................................
492 Specification of variants and options
492.1 Introduction to variants and options ...................................................................... 502.2 Manipulator ...................................................................................................... 542.3 Floor cables ..................................................................................................... 552.4 Control module ................................................................................................. 562.5 Process ...........................................................................................................
573 Accessories
573.1 Introduction to accessories .................................................................................
59Index
Product specification - IRB 1200 5
3HAC046982-001 Revision: G
© Copyright 2017 ABB. All rights reserved.
Table of contents

This page is intentionally left blank

Overview of this specification
About this product specification
It describes the performance of the manipulator or a complete family of manipulators
in terms of:
• The structure and dimensional prints
• The fulfilment of standards, safety and operating requirements
• The load diagrams, mounting of extra equipment, the motion and the robot
reach
• The specification of variants and options available
Usage
Product specifications are used to find data and performance about the product,
for example to decide which product to buy. How to handle the product is described
in the product manual.
Users
It is intended for:
• Product managers and product personnel
• Sales and marketing personnel
• Order and customer service personnel
References
Document IDReference
3HAC047400-001Product specification - Controller IRC5
IRC5 with main computer DSQC1000.
3HAC048264-001Product specification - Controller software IRC5
IRC5 with main computer DSQC1000 and RobotWare 5.6x.
3HAC050945-001Product specification - Controller software IRC5
IRC5 with main computer DSQC1000 and RobotWare 6.
3HAC046983-001Product manual - IRB 1200
3HAC035738-001Product manual - IRC5 Compact
3HAC050941-001Operating manual - IRC5 with FlexPendant
3HAC052355-001Product specification - Robot user documentation, IRC5 with RobotWare
6
Revisions
DescriptionRevision
New product specification-
Minor correctionsA
• Working range of axis 6 corrected from ±360° to ±400°, see
Working range on page 41.
• Minor corrections/update
B
Continues on next page
Product specification - IRB 1200 7
3HAC046982-001 Revision: G
© Copyright 2017 ABB. All rights reserved.
Overview of this specification

DescriptionRevision
• Minor corrections/update
C
• Food grade lubrication option added.
• Maximum revolution of axis 6 corrected to ±242, see Robot
motion on page 40.
D
Published in release R16.2. The following updates are done in this
revision:
• Recommendation of fitting a fuse protector for customer
protection added. See Customer connections on page 46.
• 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 9.
E
Published in release R17.1. The following updates are done in this
revision:
• Added the standard IEC 61340-5-1:2010, see Applicable
standards on page 17.
• A warning label about CP/CS connection provided on the
tubular housing. See Customer connections on page 46.
• Information about Type B robots supporting SafeMove 2
added.
•Absolute Accuracy calibration added.
• Restriction of load diagram added.
F
Published in release 17.2. The following updates are done in this
revision:
• Updated list of applicable standards.
• Changed the protection type of Food grade lubrication.
• Updated description about Clean Room class.
G
8 Product specification - IRB 1200
3HAC046982-001 Revision: G
© Copyright 2017 ABB. All rights reserved.
Overview of this specification
Continued

1 Description
1.1 Structure
1.1.1 Introduction to structure
General
The IRB 1200 is one of ABB Robotics latest generation of 6-axis industrial robot,
with a payload of 5 to 7 kg, designed specifically for manufacturing industries that
use flexible robot-based automation, e.g. 3C industry. The robot has an open
structure that is especially adapted for flexible use, and can communicate
extensively with external systems.
Type A of IRB 1200
Type A - Axis Calibration
The difference between IRB 1200 and IRB 1200 Type A is that the Type A is
calibrated with Axis Calibration. On each axis there are bushings for installation
of calibration tools.
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.
The difference between IRB 1200 Type A and IRB 1200 Type B is that Type B
also supports SafeMove 2. See Type B of IRB 1200 on page 9.
How to know which type the robot is?
The type label on the base of the robot tells if the robot is calibrated with Axis
Calibration.
Those robots are named IRB 1200 Type A.
Note
If no type label attached on the robot, use the bushings on each axis to identify
a robot calibrated with Axis Calibration.
Those robots which are not equipped for Axis Calibration are simply named IRB
1200 (no type specified).
Type B of IRB 1200
Type B - SafeMove 2
The difference between IRB 1200 Type B and other IRB 1200 versions is that the
Type B supports SafeMove 2.
As a result of this, the following parts differ from other versions:
• Base
Continues on next page
Product specification - IRB 1200 9
3HAC046982-001 Revision: G
© Copyright 2017 ABB. All rights reserved.
1 Description
1.1.1 Introduction to structure

• Drive unit, axis 2, axis 3, axis 5 and axis 6
• Motor with pulley, axis 4 and axis 5
• Manipulator cable harness
• 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.
Those robots are named IRB 1200 Type B.
Clean room robots
xx1100000959
Particle emission from the robot fulfill Clean room class 3 standard according to
DIN EN ISO 14644-1.
Clean room robots are specially designed to work in a clean room environment.
According to IPA test result, the robot IRB 1200 is suitable for use in clean room
environments.
Clean room robots are designed in order to prevent from particle emission from
the robot. For example is, frequent maintenance work possible to perform without
cracking the paint. The robot is painted with four layers of polyurethane paint. The
last layer being a varnish over labels in order to simplify cleaning. The paint has
been tested regarding outgassing of Volatile Organic Compounds (VOC) and been
classified in accordance with ISO 14644-8.
Classification of airborne molecular contamination, see below:
Outgassing amountParameter
Classifica-
tion in ac-
cordance to
ISO 14644-
8
Normed
based on
1m2and
1s(g)
Total detec-
ted (ng)
Performed
test
Temp (°C)Test dura-
tion (s)
Area (m2)
-6.81.7E-072848TVOC2336004.5E-03
-3.81.7E-0446524TVOC90604.5E-03
Classification results in accordance with ISO 14644-8 at different test temperatures.
Food grade lubrication
The robot has food grade lubrication (NSF H1) as an option (777-1). The protection
type for robots with food grade lubrication is Clean Room and IP67.
Continues on next page
10 Product specification - IRB 1200
3HAC046982-001 Revision: G
© Copyright 2017 ABB. All rights reserved.
1 Description
1.1.1 Introduction to structure
Continued

IP67/66 protection
The robot has IP67 as an option. The option will add sealing, machining parts and
gasket.
Protection type Foundry Plus 2
Robots with the option Foundry Plus 2 are designed for harsh environments where
the robot is exposed to sprays of coolants, lubricants and metal spits that are
typical for die casting applications or other similar applications.
Typical applications are spraying insertion and part extraction of die-casting
machines, handling in sand casting and gravity casting, etc. (Please refer to Foundry
Prime robots for washing applications or other similar applications). Special care
must be taken in regard to operational and maintenance requirements for
applications in foundry are as well as in other applications areas. Please contact
ABB Robotics Sales organization if in doubt regarding specific application feasibility
for the Foundry Plus 2 protected robot.
The robot is painted with two-component epoxy on top of a primer for corrosion
protection. To further improve the corrosion protection additional rust preventive
are applied to exposed and crucial areas, e.g. has the tool flange a special
preventive coating. Although, continuous splashing of water or other similar rust
formation fluids may cause rust attach on the robots unpainted areas, joints, or
other unprotected surfaces. Under these circumstances it is recommended to add
rust inhibitor to the fluid or take other measures to prevent potential rust formation
on the mentioned.
The entire robot is IP67 compliant according to IEC 60529 - from base to wrist,
which means that the electrical compartments are sealed against water and solid
contaminants. Among other things all sensitive parts are better protected than the
standard offer.
Selected Foundry Plus 2 features:
• Improved sealing to prevent penetration into cavities to secure IP67
• Additional protection of cabling and electronics
• Special covers that protect cavities
• Well-proven connectors
• Black chrome coated tool flange
• Rust preventives on screws, washers and unpainted/machined surfaces
• Extended service and maintenance program
The Foundry Plus 2 robot can be cleaned with appropriate washing equipment
according to the robot product manual. Appropriate cleaning and maintenance is
required to maintain the protection, for example can rust preventive be washed off
with wrong cleaning method.
Available robot versions
The option Foundry Plus 2 might not be available for all robot versions.
See Specification of variants and options on page 49 for robot versions and other
options not selectable together with Foundry Plus 2.
Continues on next page
Product specification - IRB 1200 11
3HAC046982-001 Revision: G
© Copyright 2017 ABB. All rights reserved.
1 Description
1.1.1 Introduction to structure
Continued

Operating system
The robot is equipped with the IRC5 Compact (IRC5C) or IRC5 (Single cabinet)
controller and robot control software, RobotWare. RobotWare supports every
aspect of the robot system, such as motion control, development and execution
of application programs, communication etc. See Product specification - Controller
IRC5 with FlexPendant (IRC5C included).
Safety
The safety standards are valid for the complete robot, manipulator and controller.
Additional functionality
For additional functionality, the robot can be equipped with optional software for
application support - for example gluing and welding, communication features -
network communication - and advanced functions such as multitasking, sensor
control etc. For a complete description on optional software, see Product
specification - Controller software IRC5.
Manipulator axes
(A)
(D)
(E)
(F)
(C)
(B)
xx1300000365
Continues on next page
12 Product specification - IRB 1200
3HAC046982-001 Revision: G
© Copyright 2017 ABB. All rights reserved.
1 Description
1.1.1 Introduction to structure
Continued

DescriptionPosi-
tion
DescriptionPosi-
tion
Axis 2BAxis 1A
Axis 4DAxis 3C
Axis 6FAxis 5E
Product specification - IRB 1200 13
3HAC046982-001 Revision: G
© Copyright 2017 ABB. All rights reserved.
1 Description
1.1.1 Introduction to structure
Continued

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).
Reach (m)Handling capacity (kg)Robot type
0.9 m5 kgIRB 1200
0.7 m7 kgIRB 1200
Manipulator weight
WeightData
54 kgIRB 1200-5/0.9
52 kgIRB 1200-7/0.7
Other technical data
NoteDescriptionData
< 70 dB (A) Leq (acc. to the work-
ing space Machinery directive
2006/42/EG)
The sound pressure level outsideAirborne noise level
Power consumption
Path E1-E2-E3-E4 in the ISO Cube, maximum load.
Power consumption (kW)Type of movement
IRB 1200-7/0.7IRB 1200-5/0.9
0.39 kW0.45 kWISO Cube Max. velocity
IRB 1200-7/0.7IRB 1200-5/0.9Robot in 0 degree position
0.10 kW0.10 kWBrakes engaged
0.19 kW0.18 kWBrakes disengaged
xx0900000265
DescriptionPosition
250 mmA
Continues on next page
14 Product specification - IRB 1200
3HAC046982-001 Revision: G
© Copyright 2017 ABB. All rights reserved.
1 Description
1.1.2 The robot

Dimensions IRB 1200-7/0.7
(A)
351
869
42
105
210
269
399,1 350
82
530
105
210
(B)
269,5
210
162
47
105
190
185
(D)
115
(C)
xx1300000366
DescriptionPosition
Minimum turning radius axis 4 R=79 mmA
Minimum turning radius axis 3 R=139 mmB
Minimum turning radius axis 1 R=138 mmC
Valid for option Robot cabling routing, 966-1 From belowD
Continues on next page
Product specification - IRB 1200 15
3HAC046982-001 Revision: G
© Copyright 2017 ABB. All rights reserved.
1 Description
1.1.2 The robot
Continued

Dimensions IRB 1200-5/0.9
(A)
105
210
967
42
451
105
269
210
82
448
399,1
613
(B)
269,5
210
162
47
105
190
185
(D)
115
(C)
xx1400000339
DescriptionPos
Minimum turning radius axis 4 R=79 mmA
Minimum turning radius axis 3 R=111 mmB
Minimum turning radius axis 1 R=138 mmC
Valid for option Robot cabling routing, 966-1 From belowD
16 Product specification - IRB 1200
3HAC046982-001 Revision: G
© Copyright 2017 ABB. All rights reserved.
1 Description
1.1.2 The robot
Continued

1.2 Standards
1.2.1 Applicable standards
Note
The listed standards are valid at the time of the release of this document. Phased
out or replaced standards are removed from the list when needed.
Standards, EN ISO
The product is designed in accordance with the requirements of:
DescriptionStandard
Safety of machinery - General principles for design - Risk as-
sessment and risk reduction
EN ISO 12100:2010
Safety of machinery, safety related parts of control systems -
Part 1: General principles for design
EN ISO 13849-1:2015
Safety of machinery - Emergency stop - Principles for designEN ISO 13850:2015
Robots for industrial environments - Safety requirements -Part
1 Robot
EN ISO 10218-1:2011
Robots and robotic devices -- Coordinate systems and motion
nomenclatures
ISO 9787:2013
Manipulating industrial robots, performance criteria, and related
test methods
ISO 9283:1998
Classification of air cleanlinessEN ISO 14644-1:2015i
Ergonomics of the thermal environment - Part 1EN ISO 13732-1:2008
EMC, Generic emissionEN 61000-6-4:2007 +
A1:2011
IEC 61000-6-4:2006 +
A1:2010
(option 129-1)
EMC, Generic immunityEN 61000-6-2:2005
IEC 61000-6-2:2005
Arc welding equipment - Part 1: Welding power sourcesEN IEC 60974-1:2012ii
Arc welding equipment - Part 10: EMC requirementsEN IEC 60974-10:2014ii
Safety of machinery - Electrical equipment of machines - Part
1 General requirements
EN IEC 60204-1:2006
Degrees of protection provided by enclosures (IP code)IEC 60529:1989 + A2:2013
Protection of electronic devices from electrostatic phenomena
- General requirements
IEC 61340-5-1:2010
iOnly robots with protection Clean Room.
ii Only valid for arc welding robots. Replaces EN IEC 61000-6-4 for arc welding robots.
Continues on next page
Product specification - IRB 1200 17
3HAC046982-001 Revision: G
© Copyright 2017 ABB. All rights reserved.
1 Description
1.2.1 Applicable standards

European standards
DescriptionStandard
Safety of machinery - Ergonomic design principles - Part 1:
Terminology and general principles
EN 614-1:2006 + A1:2009
Safety of machinery - Two-hand control devices - Functional
aspects - Principles for design
EN 574:1996 + A1:2008
Other standards
DescriptionStandard
Safety requirements for industrial robots and robot systemsANSI/RIA R15.06
Safety standard for robots and robotic equipmentANSI/UL 1740
(option 429-1)
Industrial robots and robot Systems - General safety require-
ments
CAN/CSA Z 434-14
(option 429-1)
Protection of Electrical and Electronic Parts, Assemblies and
Equipment (Excluding Electrically Initiated Explosive Devices)
ANSI/ESD S20.20:2007
18 Product specification - IRB 1200
3HAC046982-001 Revision: G
© Copyright 2017 ABB. All rights reserved.
1 Description
1.2.1 Applicable standards
Continued

1.3 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. For more information about mounting
of extra equipment, see Fitting of equipment on page 31.
Product specification - IRB 1200 19
3HAC046982-001 Revision: G
© Copyright 2017 ABB. All rights reserved.
1 Description
1.3.1 Introduction to installation

1.3.2 Operating requirements
Protection standard
Protection standard IEC529Robot variant
IP40All variants, manipulator
IP67Option, all variants
Explosive environments
The robot must not be located or operated in an explosive environment.
Working range limitations
EPS will not be selectable. No mechanical limitation.
Ambient temperature
TemperatureProtection classDescription
+ 5°C i(41°F) to + 45°C (113°F)StandardManipulator during opera-
tion
+ 5°C i(41°F) to + 35°C ii
(113°F)
OptionManipulator with food
grade lubrication during
operation
See Product specification - Control-
ler IRC5
Standard/OptionFor the controller
- 25°C (-13°F) to + 55°C (131°F)StandardComplete robot during
transportation and storage
up to + 70°C (158°F)StandardFor short periods (not ex-
ceeding 24 hours)
iAt low environmental temperature < 10ºC is, as with any other machine, a warm-up phase
recommended to be run with the robot. Otherwise there is a risk that the robot stops or run with
lower performance due to temperature dependent oil and grease viscosity.
ii For robots with food grade lubrication, if environment temperature > 35ºC, contact ABB for further
information.
Relative humidity
Relative humidityDescription
Max. 95% at constant temperatureComplete robot during operation, transportation and
storage
20 Product specification - IRB 1200
3HAC046982-001 Revision: G
© Copyright 2017 ABB. All rights reserved.
1 Description
1.3.2 Operating requirements