ABB IRB 760 Owner's manual

ROBOTICS
Product specification
IRB 760

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Workspace 21C version a4
Checked in 2021-09-27
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Product specification
IRB 760-450/3.2
IRB 760-445/3.2
Document ID: 3HAC039612-001
Revision: R
© Copyright 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 2021 ABB. All rights reserved.
Specifications subject to change without notice.

Table of contents
7Overview ...........................................................................................................................................
91 Description
91.1 Structure .........................................................................................................
91.1.1 Introduction ............................................................................................
111.1.2 Different robot versions ............................................................................
141.2 Safety standards ...............................................................................................
141.2.1 Applicable standards ...............................................................................
161.3 Installation .......................................................................................................
161.3.1 Introduction ............................................................................................
171.3.2 Operating requirements ............................................................................
181.3.3 Mounting the manipulator .........................................................................
241.4 Calibration .......................................................................................................
241.4.1 Calibration methods .................................................................................
261.4.2 Fine calibration .......................................................................................
271.5 Load diagrams ..................................................................................................
271.5.1 Introduction to load diagrams ....................................................................
281.5.2 Load diagrams ........................................................................................
301.5.3 Maximum load and moment of inertia ..........................................................
311.5.4 Maximum TCP acceleration .......................................................................
321.6 Mounting of equipment .......................................................................................
321.6.1 Introduction ............................................................................................
371.7 Robot motion ....................................................................................................
371.7.1 Introduction ............................................................................................
401.7.2 Performance according to ISO 9283 ............................................................
411.7.3 Velocity .................................................................................................
421.7.4 Stopping distance/time .............................................................................
431.8 Customer connections .......................................................................................
431.8.1 Introduction ............................................................................................
451.9 Maintenance and troubleshooting .........................................................................
451.9.1 Introduction ............................................................................................
472 Specifications of variants and options
472.1 Introduction to variants and options ......................................................................
482.2 Manipulator ......................................................................................................
532.3 Floor cables .....................................................................................................
542.4 User documentation ..........................................................................................
553 Accessories
553.1 Introduction to accessories .................................................................................
57Index
Product specification - IRB 760 5
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© Copyright 2021 ABB. All rights reserved.
Table of contents

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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.
Users
This manual is intended for:
• Product managers and Product personnel
• Sales and Marketing personnel
• Order and Customer Service personnel
References
Document IDReference
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.
3HAC039838-001Product manual - IRB 760
3HAC052355-001Product specification - Robot user documentation, IRC5 with RobotWare
6
Revisions
DescriptionRevision
- New Product Specification-
• Table for ambient temperature adjusted
• Minor corrections
A
• Machinery directive updated
B
• The maximum allowed deviation in levelity of the base plate is
changed, see Mounting the manipulator on page 18.
C
• Minor corrections/update
D
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Product specification - IRB 760 7
3HAC039612-001 Revision: R
© Copyright 2021 ABB. All rights reserved.
Overview

DescriptionRevision
• Text for ISO test adjusted
E
• Minor corrections/update
F
• Graphite white color added
G
• Minor corrections/update
H
• Axis Calibration method added
J
Published in release R17.1. The following updates are done in this revision:
• Restriction of load diagram added.
K
Published in release R17.2. The following updates are done in this revision:
• Updated list of applicable standards.
L
Published in release R18.1. The following updates are done in this revision:
• TCP acceleration added.
M
Published in release R18.2. The following updates are done in this revision:
• Added locating hole position in tool flange view.
N
Published in release R20C The following updates are done in this revision:
• New variants IRB 760-445/3.2 added.(only for press tending applica-
tion)
P
Published in release R20D The following updates are done in this revision:
• New customer option cable harness (with ethernet cable) added.
• Warranty section updated.
Q
Published in release R21C. The following updates are done in this revision:
• Text regarding fastener quality is updated.
• Removed Axis resolution.
• Updated information about the option Extended working range.
R
8 Product specification - IRB 760
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© Copyright 2021 ABB. All rights reserved.
Overview
Continued

1 Description
1.1 Structure
1.1.1 Introduction
Robot family
IRB 760 is ABB Robotics dedicated Full Layer Pallitaizer, 4-axis 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 with a handling capacity of 450 kg and 445 kg and a
reach of 3.18 m. The IRB 760-445/3.2 variant has a modified morphology of the tilt
housing.
Customer connections (option) as power, signals, Bus signals and twin air are
integrated in the robot, from the robot base to connections at the robot tool flange.
IRC5 and RobotWare
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 a complete description of optional software, see the Product
specification - Controller software IRC5. Other powerful tools to make
commissioning/programming easier are e.g. RobotStudio and PickMaster 5.
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Product specification - IRB 760 9
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1 Description
1.1.1 Introduction

Manipulator axes
The IRB 760 manipulator has 4 axes as shown in the following figure.
xx1000001136
DescriptionPos
Axis 1A
Axis 2B
Axis 3C
Axis 6D
10 Product specification - IRB 760
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1 Description
1.1.1 Introduction
Continued

1.1.2 Different robot versions
General
The IRB 760 is available in two versions, for floor mounting (no tilting around X or
Y axis).
Reach (m)Handling capacityRobot type
3.18 m450 kgIRB 760-450/3.2
3.18 m445 kgIRB 760-445/3.2
Manipulator weight
Weight (kg)Robot type
2300 kgIRB 760
Other technical data
NoteDescriptionData
< 70 dB (A) Leq (acc. to Machinery direct-
ive 2006/42/EG).
The sound pressure level
outside the working space
Airborne noise level
Power consumption at max load
IRB 760-450/3.2
IRB 760-445/3.2
Type of movement
2.75 kWISO cube Max. velocity
2.95 kWGeneral palletazing movements
IRB 760-450/3.2
IRB 760-445/3.2
Robot in calibration
position
0.20 kWBrakes engaged
0.98 kWBrakes disengaged
The path E1-E2-E3-E4 in the ISO cube is show in the following figure.
E1
E4 E3
E2
A
xx1000000101
DescriptionPos
1000 mmA
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Product specification - IRB 760 11
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1 Description
1.1.2 Different robot versions

Dimensions IRB 760
The following figure shows the rear, side and top view of the IRB 760 manipulator
(dimensions in mm).
IRB 760-450/3.2
xx1000001137
DescriptionPos
2966 mm max working rangeA
Radius for axis 3 motorB
750 mm radius for fork lift pocket (option)
Max forklift width 1195 mmC
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12 Product specification - IRB 760
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1 Description
1.1.2 Different robot versions
Continued

IRB 760-445/3.2
xx2000000270
DescriptionPos
3027 mm max working rangeA
Radius for axis 3 motorB
750 mm radius for fork lift pocket (option)
Max forklift width 1195 mmC
Product specification - IRB 760 13
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1 Description
1.1.2 Different robot versions
Continued

1.2 Safety 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 60204-1:2005
Safety of machinery - Functional safety of safety-related elec-
trical, electronic and programmable electronic control systems
IEC 62061:2005
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 434-14
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
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14 Product specification - IRB 760
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1 Description
1.2.1 Applicable standards

DescriptionStandard
Electromagnetic compatibility (EMC) – Part 6-4: Generic
standards – Emission standard for industrial environments
IEC 61000-6-4
(option 129-1)
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.
Product specification - IRB 760 15
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1 Description
1.2.1 Applicable standards
Continued

1.3 Installation
1.3.1 Introduction
General
IRB 760 is designed for floor mounting (no tilting around X or Y axis), end effector
with max. weight of 450 kg and 445 kg including payload, can be mounted on the
mounting flange (axis 6). For more information on Load Diagrams, see Load
diagrams on page 27.
Working range
The working range of axis 1 can be limited by mechanical stops. Electronic Position
Switches can be used on all axes, for position indication of the manipulator.
16 Product specification - IRB 760
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© Copyright 2021 ABB. All rights reserved.
1 Description
1.3.1 Introduction

1.3.2 Operating requirements
Protection standards
Manipulator IP67.
Explosive environments
The robot must not be located or operated in an explosive environment.
Ambient temperature
TemperatureStandard/OptionDescription
0°Ca) (32°F) to +50°C (122°F)StandardManipulator during operation
See Product specification - Controller
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 ex-
ceeding 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. Below 5oC this warm-up
phase is mandatory. Otherwise there is a risk that the robot stops or run with lower
performance due to temperature dependent oil- and grease viscosity.
Relative humidity
Relative humidityDescription
Max. 95% at constant temperatureComplete robot during operation, transportation and
storage
Product specification - IRB 760 17
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© Copyright 2021 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
± 17.7 kN± 9.1 kNForce xy
+ 26.7 ± 7.9 kN+ 26.7 ± 3.6 kNForce z
± 38.5 kNm± 28.9 kNmTorque xy
± 14.2 kNm± 6.2 kNmTorque z
The following figure shows the direction of forces.
xx1000001138
Torquexy (Txy)A
Forcez(Fz)B
Forcexy (Fxy)C
Torquez(Tz)D
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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18 Product specification - IRB 760
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© Copyright 2021 ABB. All rights reserved.
1 Description
1.3.3 Mounting the manipulator

Fastening holes robot base
The following figure shows the hole configuration (dimensions in mm).
xx1000001050
xx1000001051
M24 x 140 8.8 with 4 mm flat washer.Recommended screws for fastening the
manipulator to the base
725 NmTorque value
Two guiding sleeves required, dimensions see figures in this chapter.
Note
Only two guiding sleeves shall be used. The corresponding holes in the base
plate shall be circular and oval according to the following base plate drawing.
regarding AbsAcc performance, the recommended are the chosen guide holes
those are according to next two figures.
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Product specification - IRB 760 19
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© Copyright 2021 ABB. All rights reserved.
1 Description
1.3.3 Mounting the manipulator
Continued

Base plate drawing
The following figure shows the option base plate (dimensions in mm).
A
A
B
B
C
DG H
E
F
2x R525
598,31
560,85
487,01
243,5
0
73,84
111,30
1020
857,3
73,84
132,64
317,3
502,04
560,85
634,68
0
2x 50x45º
231,5
2x 450
950
(Ø 800)
12x M24
Ø1 A
455
C
A
4x48
13
(2)
1,6
3x45º
0.3
Ø 45P7
A-A
Ø1.5
(4x)
6,3
(48)
(2)
1,6
3x45º
B-B
(2)
13
3x R1
3x4
3x 90º
C-C
45K7
+0,5
0
47
0,25 c
(2x R22,5)
1,6
D
(2)
c
52,5º
Common Zone
E, F, G, H
xx1000001053
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20 Product specification - IRB 760
3HAC039612-001 Revision: R
© Copyright 2021 ABB. All rights reserved.
1 Description
1.3.3 Mounting the manipulator
Continued