ABB IRB 660 Owner's manual

ROBOTICS
Product specification
IRB 660

Trace back information:
Workspace 21D version a10
Checked in 2021-12-06
Skribenta version 5.4.005

Product specification
IRB 660-180/3.15
IRB 660-250/3.15
IRC5
Document ID: 3HAC023932-001
Revision: X
© Copyright 2004-2021 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 2004-2021 ABB. All rights reserved.
Specifications subject to change without notice.

Table of contents
7Overview of this specification ..........................................................................................................
10Overview ...........................................................................................................................................
131 Description
131.1 Structure .........................................................................................................
131.1.1 Introduction ............................................................................................
151.1.2 Different robot versions ............................................................................
161.1.3 Definition of version designation ................................................................
191.2 Standards ........................................................................................................
191.2.1 Applicable standards ...............................................................................
211.3 Installation .......................................................................................................
211.3.1 Introduction ............................................................................................
221.3.2 Operating requirements ............................................................................
231.3.3 Mounting the manipulator .........................................................................
281.4 Calibration .......................................................................................................
281.4.1 Calibration methods .................................................................................
301.4.2 Fine calibration .......................................................................................
321.5 Load diagrams ..................................................................................................
321.5.1 Introduction to Load diagrams ...................................................................
331.5.2 Load diagrams ........................................................................................
351.5.3 Maximum load and moment of inertia ..........................................................
361.5.4 Maximum TCP acceleration .......................................................................
371.6 Mounting of equipment .......................................................................................
371.6.1 Overview ...............................................................................................
421.7 Robot motion ....................................................................................................
421.7.1 Introduction ............................................................................................
441.7.2 Performance according to ISO 9283 ............................................................
451.7.3 Velocity .................................................................................................
461.7.4 Robot stopping distances and times ...........................................................
471.8 Customer connections .......................................................................................
471.8.1 Introduction ............................................................................................
491.9 Maintenance and troubleshooting .........................................................................
491.9.1 Introduction ............................................................................................
512 Specification of variants and options
512.1 Introduction to variants and options ......................................................................
522.2 Manipulator ......................................................................................................
552.3 Floor cables .....................................................................................................
562.4 Process ...........................................................................................................
572.5 User documentation ..........................................................................................
593 Accessories
593.1 Introduction to accessories .................................................................................
61Index
Product specification - IRB 660 5
3HAC023932-001 Revision: X
© Copyright 2004-2021 ABB. All rights reserved.
Table of contents

This page is intentionally left blank

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 IRC5 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
Document IDReference
3HAC025755-001Product manual - IRB 660
3HAC047400-001Product specification - Controller IRC5
IRC5 with main computer DSQC1000.
3HAC050945-001Product 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.
3HAC052355-001Product specification - Robot user documentation, IRC5 with RobotWare
6
3HAC048645-001Product specification - Robot stopping distances according to ISO 10218-
1
Revisions
DescriptionRevision
- New Product specification-
- General correctionsA
- Changes in Figure 3 and Figure 16.B
- Update Customer connections- Interbus removedC
- Footnote added to “Pose accuracy”
- Stock Warranty
Continues on next page
Product specification - IRB 660 7
3HAC023932-001 Revision: X
© Copyright 2004-2021 ABB. All rights reserved.
Overview of this specification

DescriptionRevision
- Changes in chapter StandardsD
- Directions of forces
- Warranty information for Load diagrams
- Position switches removed.E
- Work rangeF
- Explanation of ISO values (new figure and table)
- Stopping distance
- User documentation on DVD
- General update for 9.1 releaseG
- Text for Standards updatedH
- Tightening torque adjustedJ
• Table for ambient temperature adjusted
• New picture of tool flange
• Minor corrections of foundation forces
K
• Machinery directive updated
• Minor corrections
L
• Base plate drawing updated
M
• Minor corrections/update
N
• Text for ISO test adjusted
P
• Minor corrections/update
Q
Published in release R17.1. The following updates are done in
this revision:
• Axis Calibration method added
• Restriction of load diagram added.
R
Published in release R17.2. The following updates are done in
this revision:
• Updated list of applicable standards.
• TCP acceleration information added
S
Published in release R18.2. The following updates are done in
this revision:
• Added locating hole position in tool flange view.
T
Published in release R20D. The following updates are done in
this revision:
• Minor changes.
•New customer option cable harness (with ethernet cable)
added.
• Warranty section updated.
U
Published in release 21B. The following updates are done in
this revision:
• Text regarding fastener quality is updated.
• Specification updated in customer connection section
for DressPack, Parallel and Ethernet communication.
• Removed Axis resolution.
•Updated information about the option Extended working
range.
V
Continues on next page
8 Product specification - IRB 660
3HAC023932-001 Revision: X
© Copyright 2004-2021 ABB. All rights reserved.
Overview of this specification
Continued

DescriptionRevision
Published in release 21D. The following updates are done in
this revision:
• Minor changes.
• The data for robot stopping distances is removed. See
Product specification - Robot stopping distances accord-
ing to ISO 10218-1.
• Description for option 455-8 updated.
X
Product specification - IRB 660 9
3HAC023932-001 Revision: X
© Copyright 2004-2021 ABB. All rights reserved.
Overview of this specification
Continued

Overview
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 variant 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.
Who should read this manual?
This manual is intended for:
• Product managers and Product personnel
• Sales and Marketing personnel
• Order and Customer Service personnel
Contents
Please see Table of Contents on page 3.
References
Document IDReference
3HAC041344-001Product specification - Controller IRC5 with FlexPendant
3HAC022349-001Product specification - Controller software IRC5
3HAC024534-001Product specification - Robot user documentation, IRC5 with Robot-
Ware 5
3HAC025755-001Product manual - IRB 660
Revisions
DescriptionRevision
- New Product specification-
- General correctionsA
- Changes in Figure 3 and Figure 16.B
- Update Customer connections- Interbus removedC
- Footnote added to “Pose accuracy”
- Stock Warranty
Continues on next page
10 Product specification - IRB 660
3HAC023932-001 Revision: X
© Copyright 2004-2021 ABB. All rights reserved.
Overview