ABB IRB 6660 Owner's manual

ROBOTICS
Product specification
IRB 6660

Trace back information:
Workspace 23D version a14
Checked in 2023-12-12
Skribenta version 5.5.019

Product specification
IRB 6660-100/3.3
IRB 6660-130/3.1
IRB 6660-205/1.9
OmniCore
Document ID: 3HAC087212-001
Revision: A
© Copyright 2004-2023 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 2004-2023 ABB. All rights reserved.
Specifications subject to change without notice.

Table of contents
7Overview of this product specification .............................................................................................
91 Description
91.1 Structure .........................................................................................................
91.1.1 Introduction ............................................................................................
121.1.2 Technical data ........................................................................................
171.2 Standards ........................................................................................................
171.2.1 Applicable standards ...............................................................................
181.3 Installation .......................................................................................................
181.3.1 Introduction ............................................................................................
191.3.2 Operating requirements ............................................................................
201.3.3 Mounting the manipulator .........................................................................
251.4 Calibration and references ..................................................................................
251.4.1 Calibration methods .................................................................................
271.4.2 Fine calibration with Calibration Pendulum ...................................................
281.4.3 Absolute Accuracy calibration ...................................................................
301.4.4 Robot references ....................................................................................
321.5 Load diagrams ..................................................................................................
321.5.1 Introduction to Load diagrams ...................................................................
331.5.2 Load diagrams ........................................................................................
39
1.5.3 Maximum load and moment of inertia for full and limited axis 5 (center line down)
movement ..............................................................................................
411.5.4 Wrist torque ...........................................................................................
421.6 Mounting of equipment .......................................................................................
421.6.1 General .................................................................................................
441.6.2 Mounting of hip load ................................................................................
481.7 Robot motion ....................................................................................................
481.7.1 Introduction ............................................................................................
521.7.2 Performance according to ISO 9283 ............................................................
531.7.3 Velocity .................................................................................................
541.7.4 Robot stopping distances and times ...........................................................
551.8 Customer connections .......................................................................................
591.9 Maintenance and Troubleshooting ........................................................................
591.9.1 Introduction ............................................................................................
612 Variants and options
612.1 Introduction to variants and options ......................................................................
622.2 Manipulator ......................................................................................................
652.3 Floor cables .....................................................................................................
662.4 Application .......................................................................................................
662.4.1 Application manipulator ............................................................................
672.4.2 Connector kits manipulator .......................................................................
682.4.2.1 Base - Connector kits ...................................................................
702.4.2.2 Axis 3 - Connector kits ..................................................................
712.4.3 Application floor cables ............................................................................
722.5 Warranty .........................................................................................................
73Index
Product specification - IRB 6660 5
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Table of contents

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Overview of this product specification
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.
Users
It is intended for:
• Product managers and Product personnel
• Sales and Marketing personnel
• Order and Customer Service personnel
References
Document IDReference
3HAC039842-001Product manual - IRB 6660
3HAC087112-001Product manual - OmniCore V250XT Type B
3HAC081697-001Product manual - OmniCore V400XT
3HAC074671-001Product specification - OmniCore V line
3HAC048645-001Product specification - Robot stopping distances according to ISO 10218-
1
Revisions
DescriptionRevision
First edition.A
Product specification - IRB 6660 7
3HAC087212-001 Revision: A
© Copyright 2004-2023 ABB. All rights reserved.
Overview of this product specification

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1 Description
1.1 Structure
1.1.1 Introduction
Robot family
The IRB 6660 is one of ABB Robotics generation of high payload, high performance
industrial robots.
Based on the famous IRB 6600 robot family, the very high wrist torque, the service
friendly modular built up and the very high availability, significant for ABB’s robots,
the IRB 6660 robot family goes even further, towards the excellence as a flexible
tooling in automatic manufacturing.
With a focus on the very high robot performance, simple service and low
maintenance cost, the IRB 6660-130/3.1 and IRB 6660-100/3.3 are the most
profitable alternatives in automation of Press Tending applications and IRB
6660-205/1.9 is adapted for Pre-machining and cleaning of aluminium castings.
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 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 Product specification - OmniCore V line.
The IRB 6660 manipulator can be connected to the following robot controllers:
• OmniCore V250XT
• OmniCore V400XT
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 features -
network communication - and advanced functions such as multitasking, sensor
control etc. For a complete description on optional software, see Product
specification - OmniCore V line.
Continues on next page
Product specification - IRB 6660 9
3HAC087212-001 Revision: A
© Copyright 2004-2023 ABB. All rights reserved.
1 Description
1.1.1 Introduction

Protection type Foundry Plus 2
Robots with the option Foundry Plus 2 are designed for harsh environments where
the robot is exposed to sprays of coolants, lubricants and metal spits that are
typical for die casting applications or other similar applications.
Typical applications are spraying insertion and part extraction of die-casting
machines, handling in sand casting and gravity casting, etc. (Please refer to Foundry
Prime robots for washing applications or other similar applications). Special care
must be taken in regard to operational and maintenance requirements for
applications in foundry are as well as in other applications areas. Please contact
ABB Robotics Sales organization if in doubt regarding specific application feasibility
for the Foundry Plus 2 protected robot.
The robot is painted with two-component epoxy on top of a primer for corrosion
protection. To further improve the corrosion protection additional rust preventive
are applied to exposed and crucial areas, e.g. has the tool flange a special
preventive coating. Although, continuous splashing of water or other similar rust
formation fluids may cause rust attach on the robots unpainted areas, joints, or
other unprotected surfaces. Under these circumstances it is recommended to add
rust inhibitor to the fluid or take other measures to prevent potential rust formation
on the mentioned.
The entire robot is IP67 compliant according to IEC 60529 - from base to wrist,
which means that the electrical compartments are sealed against water and solid
contaminants. Among other things all sensitive parts are better protected than the
standard offer.
Selected Foundry Plus 2 features:
• Improved sealing to prevent penetration into cavities to secure IP67
• Additional protection of cabling and electronics
• Special covers that protect cavities
• Well-proven connectors
• Nickel coated tool flange
• Rust preventives on screws, washers and unpainted/machined surfaces
• Extended service and maintenance program
The Foundry Plus 2 robot can be cleaned with appropriate washing equipment
according to the robot product manual. Appropriate cleaning and maintenance is
required to maintain the protection, for example can rust preventive be washed off
with wrong cleaning method.
Available robot variants
The option Foundry Plus 2 might not be available for all robot variants.
See Variants and options on page 61 for robot versions and other options not
selectable together with Foundry Plus 2.
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10 Product specification - IRB 6660
3HAC087212-001 Revision: A
© Copyright 2004-2023 ABB. All rights reserved.
1 Description
1.1.1 Introduction
Continued

Manipulator axes
Axis 4
Axis 5
Axis 6
Axis 3
Axis 2
Axis 1
xx1000000633
Product specification - IRB 6660 11
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© Copyright 2004-2023 ABB. All rights reserved.
1 Description
1.1.1 Introduction
Continued

1.1.2 Technical data
General
The IRB 6660 is available in three variants.
Reach (m)Handling capacity (kg)Robot
3.1 m130 kgIRB 6660-130/3.1
3.3 m100 kgIRB 6660-100/3.3
1.9 m205 kgIRB 6660-205/1.9
Manipulator weight
WeightRobot variant
1,910 kgIRB 6660-130/3.1
1,950 kgIRB 6660-100/3.3
1,730 kgIRB 6660-205/1.9
Airborne noise level
NoteDescriptionData
< 69 dB(A) Leq (acc. to Machinery
directive 2006/42/EG)
The sound pressure level out-
side the working space.
Airborne noise level
Power consumption at max load
IRB 6660 (all variants)Type of movement
1.22 kWISO cube 1000 m/s
1.28 kWISO cube max. velocity
All variantsRobot in calibration position
0.24 kWBrakes engaged
0.72 kWBrakes disengaged
E1
E4 E3
E2
A
xx1000000101
IRB 6660-205/1.9IRB 6660-130/3.1 and -100/3.3
630 mm1,000 mmA
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12 Product specification - IRB 6660
3HAC087212-001 Revision: A
© Copyright 2004-2023 ABB. All rights reserved.
1 Description
1.1.2 Technical data

Power factor (cos φ)
The power factor is above 0.95 at a steady state power consumption higher than
2.0 kW, when the IRB 6660 is connected to the OmniCore V line.
Dimensions IRB 6660-130/3.1
xx1000000634
Description
Forklift width 750 mmA
Max working rangeB
Mechanical stopC
Max working rangeD
R710, Radius for motor axis 3E
R750, Right fork lift pocket
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Product specification - IRB 6660 13
3HAC087212-001 Revision: A
© Copyright 2004-2023 ABB. All rights reserved.
1 Description
1.1.2 Technical data
Continued

Dimensions IRB 6660-100/3.3
3092 (B)
300
814,5
1755,5 200
1131 (D)
1211 (C)
584 (A) 600 (A)
798
400
1280
2374,5
726
170
175
(E)
xx1200001277
Description
Forklift width 750 mmA
Max working rangeB
Mechanical stopC
Max working rangeD
R710, Radius for motor axis 3E
R750, Right fork lift pocket
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14 Product specification - IRB 6660
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© Copyright 2004-2023 ABB. All rights reserved.
1 Description
1.1.2 Technical data
Continued

Dimensions IRB 6660-205/1.9
xx1000000635
Description
Forklift width 750 mmA
Max working rangeB
Max working rangeC
R710, Radius for motor axis 3D
R750, Right fork lift pocket
Continues on next page
Product specification - IRB 6660 15
3HAC087212-001 Revision: A
© Copyright 2004-2023 ABB. All rights reserved.
1 Description
1.1.2 Technical data
Continued

Chip protection, IRB 6660-205/1.9
xx1000000636
DescriptionType
The protection prevents chips created at applications as for instance, de-
burring, sawing and milling to be accumulated on the robot and secure its
movable functionality.
Chip protec-
tion (B)
Mandatory for IRB 6660-205/1.9.
Not available for IRB 6660-130/3.1
16 Product specification - IRB 6660
3HAC087212-001 Revision: A
© Copyright 2004-2023 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
Product specification - IRB 6660 17
3HAC087212-001 Revision: A
© Copyright 2004-2023 ABB. All rights reserved.
1 Description
1.2.1 Applicable standards

1.3 Installation
1.3.1 Introduction
General
The IRB 6660 should be mounted on to the floor (no tilting allowed around X-axis
or Y-axis). A tool or an end effector with max. weight of 100, 130 or 205 kg including
payload, can be mounted on the robot tool flange (axis 6). SeeLoad diagrams on
page 32.
Extra loads
For IRB 6660-130/3.1 and IRB 6660-100/3.3 can an extra load of 20 kg be mounted
on to the upper arm, at a payload of maximum 130 or 100 kg, for IRB 6660-205/1.9
can an extra load of 15 kg be mounted on to the upper arm, at a payload of
maximum 205 kg. An extra load of 500 kg can also be mounted on to the frame.
See Mounting of equipment on page 42.
Working range limitation
The working range of axis 1 can be limited by mechanical stops as options.
18 Product specification - IRB 6660
3HAC087212-001 Revision: A
© Copyright 2004-2023 ABB. All rights reserved.
1 Description
1.3.1 Introduction

1.3.2 Operating requirements
Protection standards
IEC60529Robot version/ Protection standard
IP67All variants, manipulator
Explosive environments
The robot must not be located or operated in an explosive environment.
Ambient temperature
TemperatureStandard/OptionDescription
+ 5°C a) (41°F) to + 50°C
(122°F)b)
StandardManipulator during op-
eration
See Product specification - Control-
ler IRC5 with FlexPendant
Standard/OptionFor the controller
- 25°C (- 13°F) to + 55°C (131°F)StandardComplete robot during
transportation and
storage
up to + 70°C (158°F)StandardFor short periods (not
exceeding 24 hours)
a) At low environmental temperature < 10oC is, as with any other machine, a
warm-up phase recommended to be run with the robot. Otherwise there is a risk
that the robot stops or run with lower performance due to temperature dependent
oil- and grease viscosity.
b) Max ambient temperature in a high speed press tending cycle, + 40°C.
Relative humidity
Relative humidityDescription
Max. 95% at constant temperatureComplete robot during transportation and storage
Max. 95% at constant temperatureComplete robot during operation
Product specification - IRB 6660 19
3HAC087212-001 Revision: A
© Copyright 2004-2023 ABB. All rights reserved.
1 Description
1.3.2 Operating requirements

1.3.3 Mounting the manipulator
Maximum Load
Maximum load in relation to the base coordinate system.
Floor Mounted
Max. load (emergency stop)Endurance load (in operation)Force
± 12.8 kN (IRB 6660 - 100/3.3)± 7.6 kN (IRB 6660 - 100/3.3)Force xy
± 16.1 kN (IRB 6660 - 130/3.1)± 8.5 kN (IRB 6660 - 130/3.1)
± 14.9 kN (IRB 6660 - 205/1.9)± 7.9 kN (IRB 6660 - 205/1.9)
18.5 ± 7.4 kN (IRB 6660 - 100/3.3)18.5 ± 3.7 kN (IRB 6660 - 100/3.3)Force z
18.8 ±12.8 kN (IRB 6660 - 130/3.1)18.8 ± 8.4 kN (IRB 6660 - 130/3.1)
18.0 ±7.7 kN (IRB 6660 - 205/1.9)18.0 ± 4.4 kN (IRB 6660 - 205/1.9)
± 33.4 kNm (IRB 6660 - 100/3.3)± 24.4 kNm (IRB 6660 - 100/3.3)Torque xy
± 37.2 kNm (IRB 6660 - 130/3.1)± 25.6 kNm (IRB 6660 - 130/3.1)
± 32.4 kNm (IRB 6660 - 205/1.9)± 19.6 kNm (IRB 6660 - 205/1.9)
± 14.5 kNm (IRB 6660 - 100/3.3)± 7.6 kNm (IRB 6660 - 100/3.3)Torque z
± 19.3 kNm (IRB 6660 - 130/3.1)± 10.3 kNm (IRB 6660 - 130/3.1)
± 14.7 kNm (IRB 6660 - 205/1.9)± 7.1 kNm (IRB 6660 - 205/1.9)
xx1000000637
Note regarding Mxy and Fxy
The bending torque (Mxy) can occur in any direction in the XY-plane of the base
coordinate system.
The same applies to the transverse force (Fxy).
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20 Product specification - IRB 6660
3HAC087212-001 Revision: A
© Copyright 2004-2023 ABB. All rights reserved.
1 Description
1.3.3 Mounting the manipulator