ABB IRB 920 Owner's manual

ROBOTICS
Product specification
IRB 920

Trace back information:
Workspace 21C version a1
Checked in 2021-09-23
Skribenta version 5.4.005

Product specification
IRB 920T-6/0.45
IRB 920T-6/0.55
IRB 920T-6/0.65
OmniCore
Document ID: 3HAC075723-001
Revision: A
© Copyright 2021 ABB. All rights reserved.
Specifications subject to change without notice.

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, damage 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 2021 ABB. All rights reserved.
Specifications subject to change without notice.

Table of contents
7Overview of this specification ..........................................................................................................
91 Description
91.1 Structure ......................................................................................................... 91.1.1 Introduction ............................................................................................ 111.1.2 Different robot versions ............................................................................ 121.1.3 Definition of version designations ............................................................... 121.1.3.1 Technical data ............................................................................ 171.2 Standards ........................................................................................................ 171.2.1 Applicable standards ............................................................................... 191.3 Installation ....................................................................................................... 191.3.1 Introduction to installation ......................................................................... 201.3.2 Information labels .................................................................................... 211.3.3 Assembling the manipulator ...................................................................... 231.4 Calibration and references .................................................................................. 231.4.1 Calibration methods ................................................................................. 251.4.2 Fine calibration ....................................................................................... 261.4.3 Absolute Accuracy option ......................................................................... 281.5 Load diagrams .................................................................................................. 281.5.1 Introduction to load diagram ...................................................................... 291.5.2 Diagrams ............................................................................................... 321.5.3 Maximum load and moment of inertia .......................................................... 331.6 Fitting equipment on the robot (robot dimensions) ................................................... 371.7 Maintenance and troubleshooting ......................................................................... 381.8 Robot motion .................................................................................................... 381.8.1 Working range ....................................................................................... 401.8.2 Performance according to ISO 9283 ............................................................ 411.8.3 Velocity ................................................................................................. 421.8.4 Robot stopping distances and times ........................................................... 431.9 Customer connections .......................................................................................
472 Specification of variants and options
472.1 Introduction to variants and options ...................................................................... 482.2 Manipulator ...................................................................................................... 522.3 Floor cables .....................................................................................................
533 Accessories
55Index
Product specification - IRB 920 5
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Table of contents

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Overview of this specification
About this product specification
This product specification 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 equipment
• The load diagrams, mounting or extra equipment, the motion, and the robot
reach
• The specification of available variants and options
The specification covers the manipulator using the OmniCore controller.
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.
The specification is intended for:
• Product managers and product personnel
• Sales and marketing personnel
• Order and customer service personnel
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.
The specification is intended for:
• Product managers and product personnel
• Sales and marketing personnel
• Order and customer service personnel
References
Documentation referred to in the specification, is listed in the table below.
Document IDDocument name
3HAC075722-001Product manual, spare parts - IRB 920
3HAC075721-001Product manual - IRB 920
3HAC060860-001Product manual - OmniCore C30
3HAC065034-001Product specification - OmniCore C line
3HAC073706-001Product manual - OmniCore C90XT
3HAC065036-001Operating manual - OmniCore
3HAC066554-001Application manual - Controller software OmniCore
3HAC030421-001Application manual - CalibWare Field
3HAC066553-001Technical reference manual - Event logs for RobotWare 7
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Overview of this specification

Document IDDocument name
3HAC042927-001Technical reference manual - Lubrication in gearboxes
3HAC065041-001Technical reference manual - System parameters
Revisions
DescriptionRevision
First edition.A
8 Product specification - IRB 920
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© Copyright 2021 ABB. All rights reserved.
Overview of this specification
Continued

1 Description
1.1 Structure
1.1.1 Introduction
General
The IRB 920 is one of ABB Robotics latest generation of 4-axis robot, with a payload
of 6 kg, designed based on industrial robot platform. The robot has an open
structure that is especially adapted for flexible use, and can communicate
extensively with external systems.
The IRB 920 contains the following variants:
• IRB 920T-6/0.45
• IRB 920T-6/0.55
• IRB 920T-6/0.65
Note
Without any specific statement, IRB 920 represents all variants under this product.
Software product range
We have added a range of software products - all falling under the umbrella
designation of Active Safety - to protect not only personnel in the unlikely event
of an accident, but also robot tools, peripheral equipment and the robot itself.
Operating system
The robot is equipped with the OmniCore C30/C90 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 Operating manual - OmniCore.
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 communication features - network communication
- and advanced functions such as multitasking, sensor control etc. For a complete
description on optional software, see the Product specification - OmniCore C line.
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Product specification - IRB 920 9
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1 Description
1.1.1 Introduction

Robot axes
xx2100000931
DescriptionPosDescriptionPos
Axis 22Axis 11
Axis 44Axis 33
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1 Description
1.1.1 Introduction
Continued

1.1.2 Different robot versions
General
The IRB 920 is available in three versions.
Robot types
The following robot versions are available.
Reach (m)Handling capacity (kg)Robot type
0.45 m6 kgIRB 920T-6/0.45
0.55 m6 kgIRB 920T-6/0.55
0.65 m6 kgIRB 920T-6/0.65
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1 Description
1.1.2 Different robot versions

1.1.3 Definition of version designations
1.1.3.1 Technical data
Weight, robot
The table shows the weight of the robot.
WeightRobot model
IRB 920T-6/0.45: 22 kgIRB 920
IRB 920T-6/0.55: 23 kg
IRB 920T-6/0.65: 24 kg
Note
The weight does not include tools and other equipment fitted on the robot!
Loads on foundation, robot
Tz
Fxy
Fz
Txy
xx2000001168
Force in any direction in Plane XYFxy
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1 Description
1.1.3.1 Technical data

Force along Axis ZFz
Bending moment in any direction in Plane XYTxy
Torsional moment around Axis ZTz
The table shows the various forces and torques working on the robot during different
kinds of operation.
Note
These forces and torques are extreme values that are rarely encountered during
operation. The values also never reach their maximum at the same time!
WARNING
The robot installation is restricted to the mounting options given in following load
table(s).
Floor mounted
Maximum load (emergency stop)Endurance load (in operation)Force
±1500 N±550 NForce xy
±650 N±550 NForce z
±500 Nm±330 NmTorque xy
±900 Nm±150 NmTorque z
Requirements, foundation
The table shows the requirements for the foundation where the weight of the
installed robot is included:
NoteValueRequirement
Flat foundations give better repeatability of the
resolver calibration compared to original settings
on delivery from ABB.
0.1/500 mmFlatness of foundation
surface
The value for levelness aims at the circumstance
of the anchoring points in the robot base.
In order to compensate for an uneven surface,
the robot can be recalibrated during installation.
If resolver/encoder calibration is changed this
will influence the absolute accuracy.
0°Maximum tilt
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1 Description
1.1.3.1 Technical data
Continued

NoteValueRequirement
The value is recommended for optimal perform-
ance.
22 Hz
Note
It may affect the
manipulator life-
time to have a
lower resonance
frequency than
recommended.
Minimum resonance
frequency
Due to foundation stiffness, consider robot mass
including equipment.i
For information about compensating for founda-
tion flexibility, see Application manual - Control-
ler software OmniCore, section Motion Process
Mode.
iThe minimum resonance frequency given should be interpreted as the frequency of the robot
mass/inertia, robot assumed stiff, when a foundation translational/torsional elasticity is added, i.e.,
the stiffness of the pedestal where the robot is mounted. The minimum resonance frequency should
not be interpreted as the resonance frequency of the building, floor etc. For example, if the equivalent
mass of the floor is very high, it will not affect robot movement, even if the frequency is well below
the stated frequency. The robot should be mounted as rigid as possibly to the floor.
Disturbances from other machinery will affect the robot and the tool accuracy. The robot has
resonance frequencies in the region 10 – 20 Hz and disturbances in this region will be amplified,
although somewhat damped by the servo control. This might be a problem, depending on the
requirements from the applications. If this is a problem, the robot needs to be isolated from the
environment.
Storage conditions, robot
The table shows the allowed storage conditions for the robot:
ValueParameter
-25°CMinimum ambient temperature
55°CMaximum ambient temperature
70°CMaximum ambient temperature (less than 24 hrs)
95% at constant temperature
(gaseous only)
Maximum ambient humidity
Operating conditions, robot
The table shows the allowed operating conditions for the robot:
ValueParameter
+5ºC i Minimum ambient temperature
+45ºCMaximum ambient temperature
5% - 95% non-condensing accord-
ing to IEC61131-2
Maximum ambient humidity
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.
Protection classes, robot
The table shows the available protection types of the robot, with the corresponding
protection class.
Protection classProtection type
IP30i Manipulator, protection type Standard
iThe protection class of the ballscrew area is IP20. For more information, please contact ABB.
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1 Description
1.1.3.1 Technical data
Continued

Other technical data
NoteDescriptionData
< 70 dB(A) Leq (acc. to ma-
chinery directive 2006/42/EC)
The sound pressure level out-
side the working space.
Airborne noise level
Power consumption at max load
6/0.656/0.556/0.45Type of movement
255258344ISO Cube
Max. velocity (W)
6/0.656/0.556/0.45Robot in calibration position
757985Brakes engaged (W)
119114136Brakes disengaged (W)
E1
E4 E3
E2
A
xx1000000101
DescriptionPos
250 mmA
Dimensions for rear outlet cable version
Robots with protection class IP30
260(164) X 73
193
Z
201.5
149
170
164
xx2000001145
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1 Description
1.1.3.1 Technical data
Continued

0.65_0.30.65_0.180.55_0.30.55_0.180.45_0.30.45_0.18
390mm390mm290mm290mm190mm190mmX
716.5596.5716.5596.5716.5596.5Z
Dimensions for undeneath outlet cable version
Robots with protection class IP30
X 260（116）73
170
149
164
Z
201.5
193
(53)
xx2000001146
0.65_0.30.65_0.180.55_0.30.55_0.180.45_0.30.45_0.18
390mm390mm290mm290mm190mm190mmX
716.5596.5716.5596.5716.5596.5Z
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1 Description
1.1.3.1 Technical data
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.
General
The product is designed in accordance with ISO 10218-1:2011, Robots for industrial
environments - Safety requirements -Part 1 Robots, and applicable parts in the
normative references, as referred to from ISO 10218-1:2011. In case of deviations
from ISO 10218-1:2011, these are listed in the declaration of incorporation which
is part of the product delivery.
Normative standards as referred to from ISO 10218-1
DescriptionStandard
Manipulating industrial robots - Performance criteria and related
test methods
ISO 9283:1998
Robots and robotic devices - Safety requirements for industrial
robots - Part 2: Robot systems and integration
ISO 10218-2
Safety of machinery - General principles for design - Risk as-
sessment and risk reduction
ISO 12100
Safety of machinery - Safety related parts of control systems
- Part 1: General principles for design
ISO 13849-1:2006
Safety of machinery - Emergency stop - Principles for designISO 13850
Safety of machinery - Electrical equipment of machines - Part
1: General requirements
IEC 60204-1:2005
Safety of machinery - Functional safety of safety-related elec-
trical, electronic and programmable electronic control systems
IEC 62061:2005
Region specific standards and regulations
DescriptionStandard
Safety requirements for industrial robots and robot systemsANSI/RIA R15.06
Safety standard for robots and robotic equipmentANSI/UL 1740
Industrial robots and robot Systems - General safety require-
ments
CAN/CSA Z 434-14
Other standards used in design
DescriptionStandard
Robots and robotic devices -- Coordinate systems and motion
nomenclatures
ISO 9787:2013
Electromagnetic compatibility (EMC) – Part 6-2: Generic
standards – Immunity standard for industrial environments
IEC 61000-6-2
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1 Description
1.2.1 Applicable standards

DescriptionStandard
Electromagnetic compatibility (EMC) – Part 6-4: Generic
standards – Emission standard for industrial environments
IEC 61000-6-4
(option 129-1)
Ergonomics of the thermal environment - Part 1ISO 13732-1:2006
Arc welding equipment - Part 1: Welding power sourcesIEC 60974-1:2012i
Arc welding equipment - Part 10: EMC requirementsIEC 60974-10:2014i
Classification of air cleanlinessISO 14644-1:2015ii
Degrees of protection provided by enclosures (IP code)IEC 60529:1989 + A2:2013
iOnly valid for arc welding robots. Replaces IEC 61000-6-4 for arc welding robots.
ii Only robots with protection Clean Room.
18 Product specification - IRB 920
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1 Description
1.2.1 Applicable standards
Continued

1.3 Installation
1.3.1 Introduction to installation
General
IRB 920 is available in three variants and all variants can only be floor mounted.
Depending on the robot variant, an end effector with max. weight of 6 kg including
payload, can be mounted on the lower end of the ball screw spline shaft (axis 4).
See Load diagrams on page 28.
Extra loads
The outer arm can handle an additional load of 0.5 kg.
See Fitting equipment on the robot (robot dimensions) on page 33.
Product specification - IRB 920 19
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1 Description
1.3.1 Introduction to installation

1.3.2 Information labels
Illustration
UL
Label
Read
Manual
Resolver
Values
Axis
WEEE
ABB Robotics Products AB
ABB logo ABB logo
ABB logo
C
F
D
A
B E G
A
xx2000001143
ABB logo (Big size)A
ABB logo (Small size)B
Rating labelC
Calibration labelD
UL labelE
WEEE labelF
Read manual and cautionG
20 Product specification - IRB 920
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1 Description
1.3.2 Information labels