ABB CRB 1300 Owner's manual

ROBOTICS
Product specification
CRB 1300

Trace back information:
Workspace 23C version a8
Checked in 2023-09-21
Skribenta version 5.5.019

Product specification
CRB 1300-11/0.9
CRB 1300-10/1.15
CRB 1300-7/1.4
OmniCore
Document ID: 3HAC083113-001
Revision: C
© Copyright 2022-2023 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 2022-2023 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 ............................................................................
161.1.3.2 Dimensions ................................................................................
191.1.3.3 Working range ............................................................................
241.2 Standards ........................................................................................................
241.2.1 Applicable standards ...............................................................................
251.3 Installation .......................................................................................................
251.3.1 Introduction to installation .........................................................................
261.3.2 Operating requirements ............................................................................
271.3.3 Mounting the manipulator .........................................................................
281.3.4 Installation of lead-through device ..............................................................
301.3.5 Installation of laser scanner ......................................................................
371.4 Calibration and references ..................................................................................
371.4.1 Calibration methods .................................................................................
391.4.2 Fine calibration .......................................................................................
401.4.3 Absolute Accuracy calibration ...................................................................
441.4.4 Synchronization marks and axis movement directions ...................................
441.4.4.1 Synchronization marks and synchronization position for axes ..............
451.5 Load diagrams ..................................................................................................
451.5.1 Introduction ............................................................................................
461.5.2 Diagrams ...............................................................................................
52
1.5.3 Maximum load and moment of inertia for full and limited axis 5 (center line down)
movement ..............................................................................................
541.5.4 Wrist torque ...........................................................................................
551.5.5 Maximum TCP acceleration .......................................................................
561.6 Fitting equipment on the robot (robot dimensions) ...................................................
601.7 Maintenance and troubleshooting .........................................................................
611.8 Robot motion ....................................................................................................
611.8.1 Adjusting the working range ......................................................................
621.8.2 Mechanically restricting the working range ...................................................
651.8.3 Performance according to ISO 9283 ............................................................
661.8.4 Velocity .................................................................................................
671.9 Robot stopping distances and times .....................................................................
671.9.1 Robot stopping distances according to ISO 10218-1 ......................................
711.9.2 Measuring stopping distance and time ........................................................
731.9.3 CRB 1300 0.9 m 11 kg ..............................................................................
821.9.4 CRB 1300 1.15 m 10 kg ............................................................................
911.9.5 CRB 1300 1.4 m 7 kg ...............................................................................
1001.10 Customer connections .......................................................................................
1052 Specification of variants and options
1052.1 Introduction to variants and options ......................................................................
1062.2 Manipulator ......................................................................................................
1102.3 Floor cables .....................................................................................................
1133 Accessories
115Index
Product specification - CRB 1300 5
3HAC083113-001 Revision: C
© Copyright 2022-2023 ABB. All rights reserved.
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 manual, is listed in the table below.
Document IDDocument name
3HAC083111-001Product manual - CRB 1300
3HAC083112-001Product manual, spare parts - CRB 1300
3HAC065034-001Product specification - OmniCore C line
3HAC060860-001Product manual - OmniCore C30
3HAC073706-001Product manual - OmniCore C90XT
3HAC080868-003Circuit diagram - CRB 1300
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Product specification - CRB 1300 7
3HAC083113-001 Revision: C
© Copyright 2022-2023 ABB. All rights reserved.
Overview of this specification

Revisions
DescriptionRevision
First edition.A
Published in release 23A. The following updates are done in this revision:
• Updated image for 1 SafetyIO-based laser scanner (option 3051-
2).
B
Published in release 23C. The following updates are done in this revision:
• The updated robot stopping distances and times are moved to
this document, and removed from the generic document, see
Robot stopping distances and times on page 67.
C
8 Product specification - CRB 1300
3HAC083113-001 Revision: C
© Copyright 2022-2023 ABB. All rights reserved.
Overview of this specification
Continued

1 Description
1.1 Structure
1.1.1 Introduction
General introduction for CRB 1300
CRB 1300 is a collaborative robot. It bridges the gap between collaborative and
industrial robots, enabling safe collaborative operation in applications demanding
industrial-level speed and lifting capabilities. Combining ABB’s SafeMove speed
and safety separation technology with one or two safety laser scanner, CRB 1300
ensures workers are never inside its working envelope while it is moving. Offering
both lead-through functionality via the clip-on lead through device and Wizard easy
programming software, CRB 1300 can be configured with no specialized training.
IP67 protection
The robot has IP67 as an option. The option will add sealing, machining parts and
gasket.
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/C90XT 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
Continues on next page
Product specification - CRB 1300 9
3HAC083113-001 Revision: C
© Copyright 2022-2023 ABB. All rights reserved.
1 Description
1.1.1 Introduction

Robot axes
xx2200001140
DescriptionPosDescriptionPos
Axis 22Axis 11
Axis 44Axis 33
Axis 66Axis 55
10 Product specification - CRB 1300
3HAC083113-001 Revision: C
© Copyright 2022-2023 ABB. All rights reserved.
1 Description
1.1.1 Introduction
Continued

1.1.2 Different robot versions
General
The CRB 1300 is available in three versions.
Robot types
The following robot versions are available.
Reach (m)Handling capacity (kg)Robot type
0.9 m11 kgCRB 1300-11/0.9
1.15 m10 kgCRB 1300-10/1.15
1.4 m7 kgCRB 1300-7/1.4
Product specification - CRB 1300 11
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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.
Nominal weightRobot model
CRB 1300-11/0.9: 75 kgCRB 1300
CRB 1300-10/1.15: 77 kg
CRB 1300-7/1.4: 79 kg
Note
The weight does not include additional options, tools and other equipment fitted
on the robot.
Mounting positions
The table shows valid mounting positions and the installation (mounting) angle for
the manipulator.
Installation angleMounting position
Any angleFloor mounted
Any angleWall mounted
Any angleSuspended
Note
The actual mounting angle must always be configured in the system parameters,
otherwise the performance and lifetime is affected. See the product manual for
details.
Loads on foundation, robot
The illustration shows the directions of the robots stress forces.
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12 Product specification - CRB 1300
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© Copyright 2022-2023 ABB. All rights reserved.
1 Description
1.1.3.1 Technical data

The directions are valid for all floor mounted, suspended and wall mounted robots.
xy
xy
z
z
T
F
F
T
xx1100000521
Force in any direction in the XY planeFxy
Force in the Z planeFz
Bending torque in any direction in the XY planeTxy
Bending torque in the Z planeTz
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
±2186 N±821 NForce xy
1547 N±1000 N428 N±1000 NForce z
±2392 Nm±814 NmTorque xy
±583 Nm±236 NmTorque z
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Product specification - CRB 1300 13
3HAC083113-001 Revision: C
© Copyright 2022-2023 ABB. All rights reserved.
1 Description
1.1.3.1 Technical data
Continued

Wall mounted
Max. load (emergency stop)Endurance load (in operation)Force
±2860 N±1478 NForce xy
±963 N±288 NForce z
±2741 Nm±1068 NmTorque xy
±863 Nm±352 NmTorque z
Suspended
Max. load (emergency stop)Endurance load (in operation)Force
±2186 N±821 NForce xy
1547 N±1000 N428 N±1000 NForce z
±2392 Nm±814 NmTorque xy
±583 Nm±236 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 circum-
stance of the anchoring points in the robot
base.
In order to compensate for an uneven sur-
face, the robot can be recalibrated during in-
stallation. If resolver/encoder calibration is
changed this will influence the absolute ac-
curacy.
The value is recommended for optimal per-
formance.
22 Hz
Note
It may affect the ma-
nipulator lifetime to
have a lower reson-
ance frequency than
recommended.
Minimum resonance
frequency
Due to foundation stiffness, consider robot
mass including equipment.i
For information about compensating for
foundation flexibility, see the description of
Motion Process Mode in the manual that de-
scribes the controller software option, see
References on page 7.
150 MPaMinimum foundation
material yield strength
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.
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14 Product specification - CRB 1300
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© Copyright 2022-2023 ABB. All rights reserved.
1 Description
1.1.3.1 Technical data
Continued

Storage conditions, robot
The table shows the allowed storage conditions for the robot:
ValueParameter
-25°C (-13°F)Minimum ambient temperature
+55°C (+131°F)Maximum ambient temperature
+70°C (+158°F)Maximum 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
+5°Ci(41°F)Minimum ambient temperature
+45°C (113°F)Maximum ambient temperature
95% at constant temperatureMaximum ambient humidity
iAt low environmental temperature (below 10° C) a warm-up phase is recommended to be run with
the robot. Otherwise there is a risk that the robot stops or runs 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 class i Protection type
IP40Manipulator, protection type Standard
IP67 (option 3350-670)
iAccording to IEC 60529.
Environmental information
The product complies with IEC 63000. Technical documentation for the assessment
of electrical and electronic products with respect to the restriction of hazardous
substances.
Product specification - CRB 1300 15
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© Copyright 2022-2023 ABB. All rights reserved.
1 Description
1.1.3.1 Technical data
Continued

1.1.3.2 Dimensions
Main dimensions of CRB 1300-11/0.9
240,6
544 425 40
1069
425 9050
A
B
A
340
127,4
62,5
B
220
190
190
100
190
10
H7 +
0,015 0
73 73
190
K
J
J
Sidebase Cabling
0.08
R5
R5
10
H7 +
0,015 0
0,5 0,5
DETAIL K
0.08
R101,5
118
190
190
80
170
Underbase Cabling
19
xx2200000725
DescriptionPos
Turning radius: R84A
Turning radius: R207B
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16 Product specification - CRB 1300
3HAC083113-001 Revision: C
© Copyright 2022-2023 ABB. All rights reserved.
1 Description
1.1.3.2 Dimensions

Main dimensions of CRB 1300-10/1.15
240,6
544 575
425 90
1219
1159
150
62,5
127,4
B
220
190
190
100
190
10
H7 +
0,015 0
73 73
190
K
J
J
Sidebase Cabling
0.08
R5
R5
10
H7 +
0,015 0
0,5 0,5
DETAIL K
0.08
R101,5
118
190
190
80
170
Underbase Cabling
19
A
xx2200000726
DescriptionPos
Turning radius: R84A
Turning radius: R282B
Continues on next page
Product specification - CRB 1300 17
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1 Description
1.1.3.2 Dimensions
Continued

Main dimensions of CRB 1300-7/1.4
544 575
675 90
1159
150
62,5
340
127,4
B
190
190
220
100
190
10
H7 +
0,015 0
73 73
190
K
J
J
Sidebase Cabling
0.08
R5
R5
10
H7 +
0,015 0
0,5 0,5
DETAIL K
0.08
R101,5
118
190
190
80
170
Underbase Cabling
19
A
xx2200000727
DescriptionPos
Turning radius: R84A
Turning radius: R282B
18 Product specification - CRB 1300
3HAC083113-001 Revision: C
© Copyright 2022-2023 ABB. All rights reserved.
1 Description
1.1.3.2 Dimensions
Continued

1.1.3.3 Working range
Illustration, working range CRB 1300-11/0.9
This illustration shows the unrestricted working range of the robot.
1395.9
901.9
156.1
801.9
Pos 1
Pos 7
Pos 8
Pos 5
Pos 6
Pos 9
Pos 2 Pos 3
Pos 4
xx1900001334
Positions at wrist center and angle of axes 2 and 3
Angle (degrees)Positions at wrist center (mm)Position in the
figure axis 3axis 2ZX
0°0°1009475pos0
-84.6°0°1,395.950pos1
65°0°600.7265.9pos2
-84.6°90°544901.9pos3
-84.6°130°-3.6702.6pos4
-210°-100°170.3-64.7pos5
65°-100°746.7-43.3pos6
-84.6°-90°544-801.9pos7
-84.6°-100°396.1-788.9pos8
-210°130°696.3410pos9
Continues on next page
Product specification - CRB 1300 19
3HAC083113-001 Revision: C
© Copyright 2022-2023 ABB. All rights reserved.
1 Description
1.1.3.3 Working range

Illustration, working range CRB 1300-10/1.15
This illustration shows the unrestricted working range of the robot.
1545.9
1151.9851.9
403.99
Pos 1
Pos 7 Pos 8
Pos 6
Pos 9
Pos 4
Pos 3
Pos 5
Pos 2
xx1900001335
Positions at wrist center and angle of axes 2 and 3
Angle (degrees)Positions at wrist center (mm)Position in the
figure axis 3axis 2ZX
0°0°1159575pos0
-84.6°0°1,545.9150pos1
65°0°750.7365.9pos2
-84.6°90°5441,151.9pos3
-84.6°155°-364573.4pos4
-210°-95°168.7-146.3pos5
65°-95°741-74.8pos6
-84.6°-90°544-851.9pos7
-84.6°-95°456.9-848.1pos8
-210°155°394604pos9
Continues on next page
20 Product specification - CRB 1300
3HAC083113-001 Revision: C
© Copyright 2022-2023 ABB. All rights reserved.
1 Description
1.1.3.3 Working range
Continued