ABB IRB 1090 Owner's manual

ROBOTICS
Product specification
IRB 1090

Trace back information:
Workspace 23D version a13
Checked in 2023-12-07
Skribenta version 5.5.019

Product specification
IRB 1090-3.5/0.58
OmniCore
Document ID: 3HAC088057-001
Revision: B
© Copyright 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 2023 ABB. All rights reserved.
Specifications subject to change without notice.

Table of contents
7Overview of this specification ..........................................................................................................
91 Description
91.1 Structure .........................................................................................................
101.1.1 Robot variants ........................................................................................
111.1.2 Technical data ........................................................................................
161.2 Standards ........................................................................................................
161.2.1 Applicable standards ...............................................................................
171.3 Installation .......................................................................................................
171.3.1 Introduction to installation .........................................................................
181.3.2 Assembling the manipulator ......................................................................
191.4 Calibration and references ..................................................................................
191.4.1 Calibration methods .................................................................................
211.4.2 Synchronization marks and synchronization position for axes .........................
221.4.3 Fine calibration .......................................................................................
241.4.4 Absolute Accuracy calibration ...................................................................
281.4.5 Synchronization marks and axis movement directions ...................................
281.4.5.1 Synchronization marks and synchronization position for axes ..............
291.4.5.2 Calibration movement directions for all axes .....................................
301.5 Load diagrams ..................................................................................................
301.5.1 Introduction ............................................................................................
311.5.2 Diagrams ...............................................................................................
33
1.5.3 Maximum load and moment of inertia for full and limited axis 5 (center line down)
movement ..............................................................................................
351.5.4 Wrist torque ...........................................................................................
361.5.5 Maximum TCP acceleration .......................................................................
371.6 Fitting equipment to the robot ..............................................................................
391.7 Maintenance and troubleshooting .........................................................................
401.8 Robot motion ....................................................................................................
401.8.1 Working range .......................................................................................
421.8.2 Axes with restricted working range .............................................................
421.8.2.1 Adjusting the working range ..........................................................
431.8.2.2 Mechanically restricting the working range .......................................
441.8.3 Performance according to ISO 9283 ............................................................
451.8.4 Velocity .................................................................................................
461.9 Robot stopping distances and times .....................................................................
461.9.1 Robot stopping distances according to ISO 10218-1 ......................................
501.9.2 Measuring stopping distance and time ........................................................
521.9.3 IRB 1090-3/0.58 ......................................................................................
601.10 Customer connections .......................................................................................
632 Specification of variants and options
632.1 Introduction to variants and options ......................................................................
642.2 Manipulator ......................................................................................................
662.3 Floor cables .....................................................................................................
693 Accessories
71Index
Product specification - IRB 1090 5
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© Copyright 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
References
Documentation referred to in the manual, is listed in the table below.
Document IDDocument name
3HAC079823-001Product specification - OmniCore E line
3HAC079399-001Product manual - OmniCore E10
3HAC088056-001Product manual - IRB 1090
Revisions
DescriptionRevision
First edition.A
Published in release 23D. The following updates are done in this revision:
• A label indicating that the robot is used only in educational applic-
ations is added.
B
Product specification - IRB 1090 7
3HAC088057-001 Revision: B
© Copyright 2023 ABB. All rights reserved.
Overview of this specification

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1 Description
1.1 Structure
Introduction
The IRB 1090 is a 6-axis robot with a payload of 3.5 kg, designed specifically for
use in educational applications for training purpose.
Note
The IRB 1090 can only be used in educational applications, with a label attached
on the robot base as a reminder, and the warranty is also limited to using in such
applications. Using the IRB 1090 in any other kinds of applications will lead to
reduced reliability and shortened lifetime, and will also void the warranty.
xx2300001734
Always contact ABB for advise if you are not sure whether your application is
suitable to use for the IRB 1090.
Continues on next page
Product specification - IRB 1090 9
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© Copyright 2023 ABB. All rights reserved.
1 Description
1.1 Structure

1.1.1 Robot variants
General
The IRB 1090 is available in one variant.
Reach (m)Handling capacity (kg)Robot variant
0.58 m3.5 kgIRB 1090-3.5/0.58
10 Product specification - IRB 1090
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© Copyright 2023 ABB. All rights reserved.
1 Description
1.1.1 Robot variants

1.1.2 Technical data
Weight, robot
The table shows the weight of the robot.
Nominal weightRobot model
21.1 kgIRB 1090
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 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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Product specification - IRB 1090 11
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1 Description
1.1.2 Technical data

The directions are valid for all floor mounted, table mounted, wall mounted and
suspended 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
±600 N±230 NForce xy
+210±570 N+210±380 NForce z
±310 Nm±120 NmTorque xy
±110 Nm±40 NmTorque z
Continues on next page
12 Product specification - IRB 1090
3HAC088057-001 Revision: B
© Copyright 2023 ABB. All rights reserved.
1 Description
1.1.2 Technical data
Continued

Suspended
Max. load (emergency stop)Endurance load (in operation)Force
±600 N±230 NForce xy
-210±570 N-210±380 NForce z
±310 Nm±120 NmTorque xy
±110 Nm±40 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.
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)
Continues on next page
Product specification - IRB 1090 13
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1 Description
1.1.2 Technical data
Continued

ValueParameter
85% 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
+40°C (104°F)Maximum ambient temperature
85% 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
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.
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
IRB 1090-3.5/0.58Type of movement
331ISO Cube
Max. velocity (W)
IRB 1090-3.5/0.58Robot in calibration position
60Brakes engaged (W)
130Brakes disengaged (W)
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14 Product specification - IRB 1090
3HAC088057-001 Revision: B
© Copyright 2023 ABB. All rights reserved.
1 Description
1.1.2 Technical data
Continued

Main dimensions of IRB 1090-3.5/0.58
664
40
64300
435
10
A
327 280
K
J
511
B
135
135
101 158
173
K View
176
182
C
xx2300001048
DescriptionPos
Turning radius: R85A
Turning radius: R109B
Turning radius: R61C
Product specification - IRB 1090 15
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© Copyright 2023 ABB. All rights reserved.
1 Description
1.1.2 Technical data
Continued

1.2 Standards
1.2.1 Applicable standards
General
The product is compliant 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 deviation from ISO
10218-1:2011, these are listed in the declaration of incorporation. The declaration
of incorporation is part of the delivery.
Robot standards
DescriptionStandard
Manipulating industrial robots – Performance criteria and re-
lated test methods
ISO 9283
Robots and robotic devices – Coordinate systems and motion
nomenclatures
ISO 9787
Manipulating industrial robots – Presentation of characteristicsISO 9946
Other standards used in design
DescriptionStandard
Safety of machinery - Electrical equipment of machines - Part
1: General requirements, normative reference from ISO 10218-
1
IEC 60204-1
Electromagnetic compatibility (EMC) – Part 6-2: Generic
standards – Immunity standard for industrial environments
IEC 61000-6-2
Electromagnetic compatibility (EMC) – Part 6-4: Generic
standards – Emission standard for industrial environments
IEC 61000-6-4
Safety of machinery - Safety related parts of control systems
- Part 1: General principles for design, normative reference
from ISO 10218-1
ISO 13849-1:2006
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 434-03
Robots and robotic devices — Safety requirements for indus-
trial robots — Part 1: Robots
EN ISO 10218-1
16 Product specification - IRB 1090
3HAC088057-001 Revision: B
© Copyright 2023 ABB. All rights reserved.
1 Description
1.2.1 Applicable standards

1.3 Installation
1.3.1 Introduction to installation
General
IRB 1090 is available in one variant and can be floor mounted and suspended
mounted. Depending on the robot variant, an end effector with a max. weight of
3.5 kg including payload, can be mounted on the tool flange (axis 6). See Load
diagrams on page 30.
Extra loads
The upper arm can handle an additional load of 0.5 kg.
See Fitting equipment to the robot on page 37.
Working range limitation
The working range of axes 1 can be limited by mechanical stops as option. See
Working range on page 41.
Product specification - IRB 1090 17
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© Copyright 2023 ABB. All rights reserved.
1 Description
1.3.1 Introduction to installation

1.3.2 Assembling the manipulator
Attachment screws
The table below specifies the type of securing screws and washers to be used for
securing the robot to the base plate/foundation.
M12x25 (robot installation directly on foundation)Suitable screws
4 pcsQuantity
8.8Quality
24 x 13 x 2.5, steel hardness class 200HVSuitable washer
2 pcs, D6x20, ISO 2338 - 6m6x20 - A1Guide pins
50 Nm±5 NmTightening torque
Minimum 12.5 mm for ground with material yield strength
150 MPa
Length of thread engagement
0.1/500 mmLevel surface requirements
Hole configuration, base
This illustration shows the hole configuration used when securing the robot.
6 H7
135
135
4-
13.5
6 H7
73
56
67.5
67.5
55.4
72.2
6 H7
+ 0.012
0
2
135
135
56
73
37.5°
2- 6 H7
+
0.012
0
67.5
4-M12
67.5
56
73
0.3
0.1 0.1
0.30
0.1
Installation base
xx2300001052
18 Product specification - IRB 1090
3HAC088057-001 Revision: B
© Copyright 2023 ABB. All rights reserved.
1 Description
1.3.2 Assembling the manipulator

1.4 Calibration and references
1.4.1 Calibration methods
Overview
This section specifies the different types of calibration and the calibration methods
that are supplied by ABB.
The original calibration data delivered with the robot is generated when the robot
is floor mounted. If the robot is not floor mounted, then the robot accuracy could
be affected. The robot needs to be calibrated after it is mounted.
More information is available in the product manual.
Types of calibration
Calibration methodDescriptionType of calibration
Axis CalibrationThe calibrated robot is positioned at calibration
position.
Standard calibration
Standard calibration data is found on the SMB
(serial measurement board) or EIB in the robot.
CalibWareBased on standard calibration, and besides
positioning the robot at synchronization posi-
tion, the Absolute accuracy calibration also
compensates for:
• Mechanical tolerances in the robot
structure
• Deflection due to load
Absolute accuracy calibration focuses on pos-
itioning accuracy in the Cartesian coordinate
system for the robot.
Absolute accuracy
calibration (option-
al)
Absolute accuracy calibration data is found
on the serial measurement board (SMB) or
other robot memory.
A robot calibrated with Absolute accuracy has
the option information printed on its name
plate (OmniCore).
To regain 100% Absolute accuracy perform-
ance, the robot must be recalibrated for abso-
lute accuracy after repair or maintenance that
affects the mechanical structure.
Wrist OptimizationOptimization of TCP reorientation perform-
ance. The purpose is to improve reorientation
accuracy for continuous processes like weld-
ing and gluing.
Optimization
Wrist optimization will update standard calib-
ration data for axes 4, 5 and 6.
Note
For advanced users, it is also possible to use
the do the wrist optimization using the RAPID
instruction WristOpt, see Technical reference
manual - RAPID Instructions, Functions and
Data types.
This instruction is only available for OmniCore
robots.
Continues on next page
Product specification - IRB 1090 19
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1 Description
1.4.1 Calibration methods

Brief description of calibration methods
Axis Calibration method
Axis Calibration is a standard calibration method for calibration of IRB 1090. It is
the recommended method in order to achieve proper performance.
The following routines are available for the Axis Calibration method:
• Fine calibration
• Update revolution counters
• Reference calibration
The calibration equipment for Axis Calibration is delivered as a toolkit.
The actual instructions of how to perform the calibration procedure and what to
do at each step is given on the FlexPendant. You will be guided through the
calibration procedure, step by step.
Wrist Optimization method
Wrist Optimization is a method for improving reorientation accuracy for continuous
processes like welding and gluing and is a complement to the standard calibration
method.
The actual instructions of how to perform the wrist optimization procedure is given
on the FlexPendant.
CalibWare - Absolute Accuracy calibration
The CalibWare tool guides through the calibration process and calculates new
compensation parameters. This is further detailed in the Application
manual - CalibWare Field.
If a service operation is done to a robot with the option Absolute Accuracy, a new
absolute accuracy calibration is required in order to establish full performance.
For most cases after replacements that do not include taking apart the robot
structure, standard calibration is sufficient.
The Absolute Accuracy option varies according to the robot mounting position.
This is printed on the robot name plate for each robot. The robot must be in the
correct mounting position when it is recalibrated for absolute accuracy.
20 Product specification - IRB 1090
3HAC088057-001 Revision: B
© Copyright 2023 ABB. All rights reserved.
1 Description
1.4.1 Calibration methods
Continued