ABB IRB 910INV Owner's manual

ROBOTICS
Product specification
IRB 910INV

Trace back information:
Workspace 23C version a7
Checked in 2023-09-21
Skribenta version 5.5.019

Product specification
IRB 910INV-3/0.35
IRB 910INV-6/0.55
OmniCore
Document ID: 3HAC068057-001
Revision: M
© Copyright 2019-2023 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 2019-2023 ABB. All rights reserved.
Specifications subject to change without notice.

Table of contents
7Overview of this manual ...................................................................................................................
91 Description
91.1 Structure ......................................................................................................... 91.1.1 Introduction to structure ........................................................................... 121.1.2 The robot ............................................................................................... 131.1.2.1 Technical data ............................................................................ 191.2 Standards ........................................................................................................ 191.2.1 Applicable standards ............................................................................... 201.3 Installation ....................................................................................................... 201.3.1 Introduction to installation ......................................................................... 211.3.2 Operating requirements ............................................................................ 221.3.3 Mounting the manipulator ......................................................................... 241.4 Load diagrams .................................................................................................. 241.4.1 Introduction to load diagram ...................................................................... 251.4.2 Load diagram ......................................................................................... 271.4.3 Maximum load and moment of inertia .......................................................... 281.4.4 Maximum TCP acceleration ....................................................................... 291.5 Mounting of equipment ....................................................................................... 341.6 Calibration ....................................................................................................... 341.6.1 Calibration methods ................................................................................. 361.6.2 Fine calibration ....................................................................................... 371.6.3 Absolute Accuracy option ......................................................................... 391.7 Maintenance and troubleshooting ......................................................................... 391.7.1 Introduction to maintenance and trouble shooting ......................................... 401.8 Robot motion .................................................................................................... 411.8.1 Working range and type of motion .............................................................. 431.8.2 Performance according to ISO 9283 ............................................................ 441.8.3 Velocity ................................................................................................. 451.9 Robot stopping distances and times ..................................................................... 451.9.1 Robot stopping distances according to ISO 10218-1 ...................................... 491.9.2 Measuring stopping distance and time ........................................................ 511.9.3 IRB 910INV-3/0.35 ................................................................................... 571.9.4 IRB 910INV-3/0.35 IP54/CR ....................................................................... 631.9.5 IRB 910INV-6/0.55 ................................................................................... 691.9.6 IRB 910INV-6/0.55 IP54/CR ....................................................................... 751.10 Customer connections .......................................................................................
772 Specification of variants and options
772.1 Introduction to variants and options ...................................................................... 782.2 Manipulator ...................................................................................................... 812.3 Floor cables ..................................................................................................... 842.4 User documentation ..........................................................................................
853 Accessories
87Index
Product specification - IRB 910INV 5
3HAC068057-001 Revision: M
© Copyright 2019-2023 ABB. All rights reserved.
Table of contents

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Overview of this manual
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 OmniCore 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 IDDocument name
3HAC065034-001Product specification - OmniCore C line
3HAC079823-001Product specification - OmniCore E line
3HAC060860-001Product manual - OmniCore C30
3HAC073706-001Product manual - OmniCore C90XT
3HAC079399-001Product manual - OmniCore E10
3HAC068055-001Product manual - IRB 910INV
Revisions
DescriptionRevision
First edition.A
Published in release R19D The following updates are done in this revi-
sion:
• Protection option 3350-540 Base 54 and 3351-1 Cleanroom 1 ad-
ded. 209-2 ABB white standard added.
• Minor changes.
B
Published in release R20C. The following updates are done in this revi-
sion:
• Minor Changes.
• Absacc production data added.
C
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Product specification - IRB 910INV 7
3HAC068057-001 Revision: M
© Copyright 2019-2023 ABB. All rights reserved.
Overview of this manual

DescriptionRevision
Published in release R20D. The following updates are done in this revi-
sion:
• Minor Changes.
• Warranty section updated.
D
Published in release R21A. The following updates are done in this revi-
sion:
• Maximum TCP acceleration added.
• Connector types for CP/CS and Ethernet floor cable wiring are
added.
E
Published in release R21B. The following updates are done in this revi-
sion:
• Performance data according to ISO 9283 updated.
• Modified the air hose diameter description.
• Text regarding fastener quality is updated.
• Added a note to remind users that mechanical stop locations
cannot be adjusted.
• Removed Axis resolution.
• Added a note in manipulator protection chapter.
F
Published in release R21C. The following updates are done in this revi-
sion:
• Removed option 438-4/5/7.
• Option 3209-1 added.
G
Published in release R21D. The following updates are done in this revi-
sion:
• Supported controller OmniCore E10 is added.
H
Published in release R22A. The following updates are done in this revi-
sion:
•Added screwing depth information to attachment screws for robot
foundation.
J
Published in release R22D. The following updates are done in this revi-
sion:
• Updated power consumption data.
• Added Mains cable [3203-x].
K
Published in release R23B. The following updates are done in this revi-
sion:
• Added table for Max down force (Z stroke).
L
Published in release 23C. The following updates are done in this revision:
• The updated robot stopping distances and times are moved to
this document, and removed from the generic document, see
Robot stopping distances and times on page 45.
M
8 Product specification - IRB 910INV
3HAC068057-001 Revision: M
© Copyright 2019-2023 ABB. All rights reserved.
Overview of this manual
Continued

1 Description
1.1 Structure
1.1.1 Introduction to structure
General
The IRB 910INV is ABB Robotics second generation SCARA robot, with 4 axes
and a max payload of 3 kg and 6 kg in two different reach variants 0.35 m and 0.55
m, designed specifically for manufacturing industries that use flexible robot-based
automation, e.g. 3C industry. The robot has an open structure that is especially
adapted for flexible use, and can communicate extensively with external systems.
Clean room robots
xx2000001471
Particle emission from the robot fulfill Clean room class 1 standard according to
DIN EN ISO 14644-1.
Clean room robots are specially designed to work in a clean room environment.
According to IPA test result:
The robot IRB 910INV is suitable for use in clean rooms fulfilling the Air Cleanliness
Class 1 according to ISO 14644-1, when operated at a capacity of 50%.
The robot IRB 910INV is suitable for use in clean rooms fulfilling the Air Cleanliness
Class 1 according to ISO 14644-1, when operated at a capacity of 100%.
Clean room robots are designed in order to prevent from particle emission from
the robot. For example is, frequent maintenance work possible to perform without
cracking the paint. The robot is painted with four layers of polyurethane paint. The
last layer being a varnish over labels in order to simplify cleaning. The paint has
been tested regarding outgassing of Volatile Organic Compounds (VOC) and been
classified in accordance with ISO 14644-8.
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Product specification - IRB 910INV 9
3HAC068057-001 Revision: M
© Copyright 2019-2023 ABB. All rights reserved.
1 Description
1.1.1 Introduction to structure

Classification of airborne molecular contamination, see below:
Outgassing amountParameter
Classifica-
tion in ac-
cordance to
ISO 14644-
8
Normed
based on
1m2and
1s(g)
Total detec-
ted (ng)
Performed
test
Temp (°C)Test dura-
tion (s)
Area (m2)
-6.81.7E-072848TVOC2336004.5E-03
-3.81.7E-0446524TVOC90604.5E-03
Classification results in accordance with ISO 14644-8 at different test temperatures.
IP54 protection
The robot has IP54 as an option. The option will add sealing, machining parts and
gaskets.
Operating system
The robot is equipped with the OmniCore C30/C90/E10 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 Operating manual - OmniCore.
Safety
The safety standards are valid for the complete robot, manipulator and controller.
Additional functionality
For additional functionality, the robot can be equipped with optional software for
application support - for example dispensing and cutting, communication features
- network communication - and advanced functions such as multitasking, sensor
control etc. For a complete description on optional software, see the Product
specification - OmniCore C line and Product specification - OmniCore E line.
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10 Product specification - IRB 910INV
3HAC068057-001 Revision: M
© Copyright 2019-2023 ABB. All rights reserved.
1 Description
1.1.1 Introduction to structure
Continued