ABB IRB 6600 - 175/2.55 User manual


Product Manual
Industrial Robot
IRB 6600 - 225/2.55
IRB 6600 - 175/2.8
IRB 6600 - 175/2.55
IRB 6650 - 200/2.75
IRB 6650 - 125/3.2
M2000A

Product Specification
3HAC 14064-1/M2000/Rev 2
IRB 6600 - 175/2.55
IRB 6600 - 225/2.55
IRB 6600 - 175/2.8
IRB 6650 - 125/3.2
IRB 6650 - 200/2.75

The information in this document is subject to change without notice and should not be construed as a
commitment by ABB Automation Technology Products AB, Robotics. ABB Automation Technology
Products AB, Robotics assumes no responsibility for any errors that may appear in this document.
In no event shall ABB Automation Technology Products AB, Robotics be liable for incidental or
consequential damages arising from use of this document or of the software and hardware described
in this document.
This document and parts thereof must not be reproduced or copied without ABB Automation
Technology Products AB, Robotics’s written permission, and contents thereof must not be imparted to
a third party nor be used for any unauthorized purpose. Contravention will be prosecuted.
Additional copies of this document may be obtained from ABB Automation Technology Products AB,
Robotics at its then current charge.
© Copyright 2001 ABB. All rights reserved.
Article number: 3HAC 14064-1
Issue: M2000/Rev. 2
ABB Automation Technology Products AB
Robotics
SE-721 68 Västerås
Sweden

Product Specification IRB 6600
CONTENTS Page
Product Specification IRB 6600 M2000 1
1 Description....................................................................................................................... 3
1.1 Structure..................................................................................................................3
Different robot versions ......................................................................................... 4
Definition of version designation........................................................................... 4
1.2 Safety/Standards..................................................................................................... 6
1.3 Installation.............................................................................................................. 10
External Mains Transformer .................................................................................. 10
Operating requirements.......................................................................................... 10
Mounting the manipulator...................................................................................... 10
1.4 Load diagrams ........................................................................................................ 13
Maximum load and moment of inertia for full and limited axis 5
(centre line down) movement......................................................................... 24
Mounting equipment.............................................................................................. 25
Holes for mounting extra equipment ..................................................................... 26
1.5 Maintenance and Troubleshooting ......................................................................... 30
1.6 Robot Motion.......................................................................................................... 31
Performance according to ISO 9283...................................................................... 34
Velocity .................................................................................................................. 34
1.7 Cooling fan for axis 1-3 motor (option 113-115) ................................................... 34
1.8 SpotPack and DressPack ........................................................................................ 35
Description of DressPack....................................................................................... 37
Description of Water and Air unit.......................................................................... 39
Description of Power Unit ..................................................................................... 40
1.9 Description of Variants and Options for SpotPack................................................. 41
1.10 Examples of SpotPacks ........................................................................................ 59
1.11 Servo Gun (option) ............................................................................................... 62
1.12 Track Motion ........................................................................................................ 68
2 Specification of Variants and Options........................................................................... 69
3 Accessories....................................................................................................................... 79
4 Index................................................................................................................................. 81

Product Specification IRB 6600
2 Product Specification IRB 6600 M2000

Description
Product Specification IRB 6600 M2000 3
1 Description
1.1 Structure
A new world of possibilities opens up with ABB’s IRB 6600 robot family. It comes in
five versions, 175kg /2.55m, 225kg /2.55 m, 175kg /2.8m, 125kg/3.2m, and
200kg/2.75m handling capacities.
TheIRB6600 isidealfor process applications,regardlessofindustry. Typicalareas can
be spotwelding, material handling and machine tending.
We haveadded a range of software products - allfalling 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.
The robot is equipped with the operating system BaseWare OS. BaseWare OS controls
every aspect of the robot, like motion control, development and execution of
application programs, communication etc. See Product Specification S4Cplus.
For additional functionality, the robot can be equipped with optional software for
application support - for example spot welding, communication features - network
communication - and advanced functions such as multi-tasking, sensor control, etc.
For a complete description on optional software, see the Product Specification
RobotWare Options.
Figure 1 The IRB 6600 manipulators have 6 axes.
Axis 6
Axis 3
Axis 4
Axis 5
Axis 1
Axis 2

Description
4 Product Specification IRB 6600 M2000
Different robot versions
The IRB 6600 is available in five versions. The following different robot types are
available:
Standard:
IRB 6600 - 175 kg / 2.55 m
IRB 6600 - 225 kg / 2.55 m
IRB 6600 - 175 kg / 2.8 m
IRB 6650 - 125 kg / 3.2 m
IRB 6650 - 200 kg / 2.75 m
Definition of version designation
IRB 6600 Mounting - Handling capacity / Reach
Manipulator weight IRB 6600-175/2,55 1700 kg
IRB 6600-225/2,55 1700 kg
IRB 6600-175/2,8 1700 kg
IRB 6650-125/3.2 1725 kg
IRB 6650-200/2.75 1700 kg
Airborne noise level:
The sound pressure level outside < 73 dB (A) Leq (acc. to
the working space Machinery directive 98/37/EEC)
Power consumption at max load:
ISO Cube: 2.6 kW
Normal robot movements: 3.8 kW
Prefix Description
Mounting - Floor-mounted manipulator
Handling capacity yyy Indicates the maximum handling capacity (kg)
Reach x.x Indicates the maximum reach at wrist centre (m)

Description
Product Specification IRB 6600 M2000 5
Figure 2 View of the manipulator from the side and above (dimensions in mm).
Allow 200 mm behind the manipulator foot for cables.
6600-400/2.55
1142 IRB 6600-2,55
1392 IRB 6600-2,8
R 580
R 690 with fork lift
1592 IRB 6650-3.2
; IRB 6650-2.75
2445 IRB 6650
2240 IRB 6600
IRB 6600
1280 IRB 6650

Description
6 Product Specification IRB 6600 M2000
1.2 Safety/Standards
The robot conforms to the following standards:
EN 292-1 Safety of machinery, terminology
EN 292-2 Safety of machinery, technical specifications
EN 954-1 Safety of machinery, safety related parts of control
systems
EN 60204 Electrical equipment of industrial machines
IEC 204-1 Electrical equipment of industrial machines
ISO 10218, EN 775 Manipulating industrial robots, safety
ANSI/RIA 15.06/1999 Industrial robots, safety requirements
ISO 9787 Manipulating industrial robots, coordinate systems
and motions
IEC 529 Degrees of protection provided by enclosures
EN 50081-2 EMC, Generic emission
EN 61000-6-2 EMC, Generic immunity
ANSI/UL 1740-1996 (option) Standard for Industrial Robots and Robotic
Equipment
CAN/CSA Z 434-94 (option) Industrial Robots and Robot Systems - General
Safety Requirements
The robot complies fully with the health and safety standards specified in the EEC’s
Machinery Directives.
The Service Information System (SIS)
The service information system gathers information about the robot’s usage and by that
determines how hard the robot has been used. The usage is characterised by the speed,
the rotation angles and the load of every axis.
With this data collection, the service interval of every individual robot of this generation
can be predicted, optimising and planning ahead service activities. The collection data is
available via the teach pendant or the network link to the robot.
The Process Robot Generation is designed with absolute safety in mind. It is dedicated
to actively or passively avoid collisions and offers the highest level of safety to the
operators and the machines as well as the surrounding and attached equipment. These
features are presented in the active and passive safety system.
The Active Safety System
The active safety system includes those software features that maintain the accuracy of
the robot’s path and those that actively avoid collisions which can occur if the robot
leaves the programmed path accidentally or if an obstacle is put into the robot’s path.
The Active Brake System (ABS)
All robots run with an active brake system that supports the robots to maintain the
programmed path even in an emergency situation.