ABB IRB 660 Owner's manual

ROBOTICS
Product specification
IRB 660

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Workspace 21D version a10
Checked in 2021-12-06
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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

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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 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

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
Product specification - IRB 660 11
3HAC023932-001 Revision: X
© Copyright 2004-2021 ABB. All rights reserved.
Overview
Continued

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1 Description
1.1 Structure
1.1.1 Introduction
Robot family
IRB 660 is ABB Robotics latest generation of 4-axis palletizing robot, designed
with a focus on its high production capacity, short cycle time at a high payload,
long reach together with the very high uptime, which is significant for ABB’s robots.
It is available in two versions; a handling capacity of 180 kg and 250 kg, both with
a reach of 3.15 m.
Customer connections such as power signals, Bus signals and twin air are
integrated in the robot, from the robot base to connections at the robot tool flange.
Operating system
The robot is equipped with the IRC5 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 and
so on. For more information, see Product specification - Controller IRC5 with
FlexPendant.
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, gluing and welding, communication feature such
as network communication, and advanced functions such as multitasking, sensor
control and so on. For a complete description on optional software, see Product
specification - Controller software IRC5.
Continues on next page
Product specification - IRB 660 13
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© Copyright 2004-2021 ABB. All rights reserved.
1 Description
1.1.1 Introduction

Manipulator axes
The IRB 660 manipulator has 4 axes as shown in the following figure.
B
D
C
en1000000670
DescriptionPos.
Axis 1A
Axis 2B
Axis 3C
Axis 6D
14 Product specification - IRB 660
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© Copyright 2004-2021 ABB. All rights reserved.
1 Description
1.1.1 Introduction
Continued

1.1.2 Different robot versions
General
The IRB 660 is available in two versions.
Reach (m)Handling capacity (kg)Robot type
3.15180IRB 660
3.15250IRB 660
Product specification - IRB 660 15
3HAC023932-001 Revision: X
© Copyright 2004-2021 ABB. All rights reserved.
1 Description
1.1.2 Different robot versions

1.1.3 Definition of version designation
IRB 660 Mounting
Handling capacity/ Reach
DescriptionPrefix
Floor-mounted manipulator-Mounting
Indicates the maximum handling capacity (kg)yyyHandling capacity
Indicates the maximum reach at wrist center (m)x.xReach
Manipulator weight
Weight (kg)Reach (m)Handling capacity (kg)Robot type
17503.15180IRB 660
17503.15250IRB 660
Other technical data
NoteDescriptionData
< 70 dB (A) Leq (acc. to Ma-
chiney directive 2006/42/EG).
The sound pressure level
outside the working space
Airborne noise level
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16 Product specification - IRB 660
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© Copyright 2004-2021 ABB. All rights reserved.
1 Description
1.1.3 Definition of version designation

Power consumption at max load
Path E1-E2-E3-E4 in the ISO Cube.
Power consumption [kW]ISO Cube Speed [mm/s]
IRB 660-250/3.15IRB 660-180/3.15
2.363.17Max.
1.501.311000
1.020.89500
0.700.61100
General Palletizing movements in 48s. at maximum speed.
Power consumption [kW]General Palletizing move-
ments IRB 660-250/3.15IRB 660-180/3.15
2.343.08Max. speed
The path E1-E2-E3-E4 in the ISO Cube is shown in the following figure.
E1
E4 E3
E2
A
xx1000000101
DescriptionPos
1000mmA
Continues on next page
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1 Description
1.1.3 Definition of version designation
Continued

Dimensions IRB660
The following figure shows the front, side, and top view of the IRB660 manipulator
(dimensions in mm). Allow 200 mm behind the manipulator foot for cables.
en1000000821
DescriptionPosition
At mechanical stopA
At max. working range axis 2B
At max. working range axis 3C
At min. working range axis 3D
Radius for fork lift pocketE
Radius for axis 3 motorF
18 Product specification - IRB 660
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1 Description
1.1.3 Definition of version designation
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
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
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
Electromagnetic compatibility (EMC) – Part 6-4: Generic
standards – Emission standard for industrial environments
IEC 61000-6-4
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1 Description
1.2.1 Applicable standards

DescriptionStandard
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.
20 Product specification - IRB 660
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1 Description
1.2.1 Applicable standards
Continued