ABB IRB 120 Product Specification
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ABB IRB 120 Product Specification

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IRB 120

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Summary of Contents for ABB IRB 120

  • Page 1 ROBOTICS Product specification IRB 120...
  • Page 2 Trace back information: Workspace OmniCore and R19C version a16 Checked in 2019-09-16 Skribenta version 5.3.012...
  • Page 3 Product specification IRB 120 IRC5 Document ID: 3HAC035960-001 Revision: T © Copyright 2010-2019 ABB. All rights reserved. Specifications subject to change without notice.
  • Page 4 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, damages to persons or property, fitness for a specific purpose or the like.

  • Page 5: Table Of Contents

    Specification of variants and options Introduction to variants and options ..............Manipulator ...................... Floor cables ..................... Process ......................User documentation ..................Accessories Introduction to accessories ................. Index Product specification - IRB 120 3HAC035960-001 Revision: T © Copyright 2010-2019 ABB. All rights reserved.
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  • Page 7: Overview Of This Specification

    Description New product specification Options 431-1 and 239-1 added Standards updated, minor corrections Size of washer for mounting the manipulator adjusted Continues on next page Product specification - IRB 120 3HAC035960-001 Revision: T © Copyright 2010-2019 ABB. All rights reserved.
  • Page 8 Published in release R19C The following updates are done in this revision: • Minor change in Ambient temperature section. • Note added about need to calibrate if the robot is other than floor mounted. Product specification - IRB 120 3HAC035960-001 Revision: T © Copyright 2010-2019 ABB. All rights reserved.

  • Page 9: Description

    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 120 is suitable for use in Clean Room environment. Clean room robots are designed in order to prevent from particle emission from the robot.
  • Page 10 For a complete description on optional software, see Product specification - Controller software IRC5. Manipulator axes Axis 3 Axis 4 Axis 5 Axis 6 Axis 2 Axis 1 xx0900000262 Product specification - IRB 120 3HAC035960-001 Revision: T © Copyright 2010-2019 ABB. All rights reserved.

  • Page 11: The Robot

    1.1.2 The robot 1.1.2 The robot General The IRB 120-3/0.6 is available in two versions and both can be mounted on floor, inverted or on wall in any angle (tilted around X or Y axis). Robot type Handling capacity (kg)
  • Page 12 Dimensions IRB 120-3/0.6 xx0900000256 Position Description Minimum turning radius axis 1 R=121 mm Minimum turning radius axis 3 R=147 mm Minimum turning radius axis 4 R=70 mm Product specification - IRB 120 3HAC035960-001 Revision: T © Copyright 2010-2019 ABB. All rights reserved.

  • Page 13: Standards

    European standards Standard Description EN 614-1:2006 + A1:2009 Safety of machinery - Ergonomic design principles - Part 1: Terminology and general principles Continues on next page Product specification - IRB 120 3HAC035960-001 Revision: T © Copyright 2010-2019 ABB. All rights reserved.
  • Page 14 1 Description 1.2.1 Applicable standards Continued Standard Description EN 574:1996 + A1:2008 Safety of machinery - Two-hand control devices - Functional aspects - Principles for design Product specification - IRB 120 3HAC035960-001 Revision: T © Copyright 2010-2019 ABB. All rights reserved.

  • Page 15: Installation

    1.3 Installation General IRB 120 is adapted for normal industrial environment. An end effector, weighing a maximum of 3 kg, including payload, can be mounted on the robot’s mounting flange (axis 6). Other equipment, weighing a maximum of 0.3 kg, can be mounted on the upper arm.

  • Page 16: Operating Requirements

    Otherwise there is a risk that the robot stops or run with lower performance due to temperature dependent oil and grease viscosity. For robots with food grade lubrication, if environment temperature > 35ºC, contact ABB for further information.

  • Page 17: Mounting The Manipulator

    ±515 N Force z 265 ±200 N 265 ±365 N Torque xy ±195 Nm ±400 Nm Torque z ±85 Nm ±155 Nm Continues on next page Product specification - IRB 120 3HAC035960-001 Revision: T © Copyright 2010-2019 ABB. All rights reserved.
  • Page 18 ) can occur in any direction in the XY-plane of the base coordinate system.The same applies to the transverse force (F Continues on next page Product specification - IRB 120 3HAC035960-001 Revision: T © Copyright 2010-2019 ABB. All rights reserved.
  • Page 19 M10 x 25 (installation directly on foundation) Guide pins, 2 pcs D=6x20 Washers, 4 pcs 10.5 x 20 x 2 Quality Quality 8.8 Tightening torque 47 Nm Product specification - IRB 120 3HAC035960-001 Revision: T © Copyright 2010-2019 ABB. All rights reserved.

  • Page 20: Load Diagram

    RobotLoad within those tilt and axis limits. Control of load case with RobotLoad To easily control a specific load case, use the calculation program ABB RobotLoad. Contact your local ABB organization for more information. The result from RobotLoad is only valid within the maximum loads and tilt angles.

  • Page 21: Load Diagrams

    0,15 2 kg 2,5 kg 0,10 3 kg 3,3 kg 3,5 kg 0,00 0,05 0,10 0,15 0,20 L (m) 0,00 xx0900000370 Continues on next page Product specification - IRB 120 3HAC035960-001 Revision: T © Copyright 2010-2019 ABB. All rights reserved.
  • Page 22 1 Description 1.4.2 Load diagrams Continued IRB 120 - 3/0.6 "Vertical wrist" (± 10 xx0900000371 Description Max load 4.2 kg 0.119 m 0.022 m Product specification - IRB 120 3HAC035960-001 Revision: T © Copyright 2010-2019 ABB. All rights reserved.

  • Page 23: Maximum Load And Moment Of Inertia For Full And Limited Axis 5 (Center Line Down) Movement

    = Mass x ((Z + 0.072) ) + max (J ) ≤ 0.175 kgm IRB 120(T)-3/0.6 = Mass x L ≤ 0.085 kgm Continues on next page Product specification - IRB 120 3HAC035960-001 Revision: T © Copyright 2010-2019 ABB. All rights reserved.
  • Page 24 (position of center of gravity) within the load diagram, since those also are limited by main axes torques as well as dynamic loads. Also arm loads will influence the permitted load diagram, please contact your local ABB organization.

  • Page 25: Mounting Of Equipment

    (See figures in Holes for mounting extra equipment on page 26.) xx0900000369 Load area Max load IRB 120-3/0.6 0.3 kg 0.5 (x2) kg Continues on next page Product specification - IRB 120 3HAC035960-001 Revision: T © Copyright 2010-2019 ABB. All rights reserved.

  • Page 26: Holes For Mounting Extra Equipment

    1 Description 1.5.1 Holes for mounting extra equipment 1.5.1 Holes for mounting extra equipment Upper arm xx0900000259 Continues on next page Product specification - IRB 120 3HAC035960-001 Revision: T © Copyright 2010-2019 ABB. All rights reserved.
  • Page 27 1 Description 1.5.1 Holes for mounting extra equipment Continued Frame xx0900000260 Robot tool flange +0.012 5 H7 0 4xM5 8 0.04 0.25 xx0900000261 Product specification - IRB 120 3HAC035960-001 Revision: T © Copyright 2010-2019 ABB. All rights reserved.

  • Page 28: Calibration

    Brief description of calibration methods Axis Calibration method Axis Calibration is a standard calibration method for calibration of IRB 120 and is the most accurate method for the standard calibration. It is the recommended method in order to achieve proper performance.

  • Page 29: Fine Calibration

    Axis 1 and 2 in zero position Axis 3 to 6 in any position Calibration of axis 1 Axis 1 in zero position Axis 2 to 6 in any position Product specification - IRB 120 3HAC035960-001 Revision: T © Copyright 2010-2019 ABB. All rights reserved.

  • Page 30: Absolute Accuracy Option

    Absolute Accuracy will be active in the following cases: • Any motion function based on robtargets (e.g. MoveL) and ModPos on robtargets • Reorientation jogging Continues on next page Product specification - IRB 120 3HAC035960-001 Revision: T © Copyright 2010-2019 ABB. All rights reserved.
  • Page 31 Note that this is the only RobotWare option that is relevant for an additional robot. Note It is possible to mix robots with and without the option Absolute Accuracy arbitrarily in a MultiMove system. Product specification - IRB 120 3HAC035960-001 Revision: T © Copyright 2010-2019 ABB. All rights reserved.

  • Page 32: Maintenance And Trouble Shooting

    The maintenance intervals depend on the use of the robot, the required maintenance activities also depends on selected options. For detailed information on maintenance procedures, see Maintenance section in the Product Manual - IRB 120. Product specification - IRB 120 3HAC035960-001 Revision: T ©...

  • Page 33: Robot Motion

    -50 mm -110° -110° -67 mm 445 mm -110° +70° -580 mm 270 mm -90° -77° -545 mm 91 mm -110° -77° Continues on next page Product specification - IRB 120 3HAC035960-001 Revision: T © Copyright 2010-2019 ABB. All rights reserved.
  • Page 34 The default working range for axis 6 can be extended by changing parameter values in the software. Option 610-1 Independent axis can be used for resetting the revolution counter after the axis has been rotated (no need for "rewinding" the axis). Product specification - IRB 120 3HAC035960-001 Revision: T © Copyright 2010-2019 ABB. All rights reserved.

  • Page 35: Performance According To Iso 9283

    The above values are the range of average test results from a number of robots Product specification - IRB 120 3HAC035960-001 Revision: T © Copyright 2010-2019 ABB. All rights reserved.

  • Page 36: Velocity

    320 °/s 320 °/s 420 °/s Supervision is required to prevent overheating in applications with intensive and frequent movements. Resolution Approx. 0.01 on each axis. Product specification - IRB 120 3HAC035960-001 Revision: T © Copyright 2010-2019 ABB. All rights reserved.

  • Page 37: Robot Stopping Distances And Times

    The stopping distances and times for category 0 and category 1 stops, as required by EN ISO 10218-1 Annex B, are listed in Product specification - Robot stopping distances according to ISO 10218-1 (3HAC048645-001). Product specification - IRB 120 3HAC035960-001 Revision: T © Copyright 2010-2019 ABB. All rights reserved.

  • Page 38: Customer Connections

    (R 1/8”) and 4 outlets (M5) on the upper arm housing. xx0900000264 Position Connection Description Number Value (R1)R3.CP/CS Customer power/signal 49 V, 500 mA Max. 5 bar Inner hose diameter 4 mm Product specification - IRB 120 3HAC035960-001 Revision: T © Copyright 2010-2019 ABB. All rights reserved.

  • Page 39: Specification Of Variants And Options

    2.1 Introduction to variants and options General The different variants and options for the IRB 120 are described in the following sections. The same option numbers are used here as in the specification form. The variants and options related to the robot controller are described in the product specification for the controller.

  • Page 40: Manipulator

    Standard warranty is 12 months from Customer Delivery Date or latest 18 months after Factory Shipment Date, whichever occurs first. Warranty terms and conditions apply. Continues on next page Product specification - IRB 120 3HAC035960-001 Revision: T © Copyright 2010-2019 ABB. All rights reserved.
  • Page 41 6 months from Factory Shipment Date or from activation date of standard war- ranty in WebConfig. Note Special conditions are applicable, see Robotics Warranty Directives. Product specification - IRB 120 3HAC035960-001 Revision: T © Copyright 2010-2019 ABB. All rights reserved.

  • Page 42: Floor Cables

    2.3 Floor cables 2.3 Floor cables Manipulator cable length Option Lengths 210-1 210-2 210-3 15 m Connection of parallell communication Option Lengths 94-6 94-1 94-2 15 m Product specification - IRB 120 3HAC035960-001 Revision: T © Copyright 2010-2019 ABB. All rights reserved.

  • Page 43: Process

    Product specification - Controller IRC5 with FlexPend- 768-2 Empty cabinet large Product specification - Controller IRC5 with FlexPend- 715-1 Installation kit Product specification - Controller IRC5 with FlexPend- Product specification - IRB 120 3HAC035960-001 Revision: T © Copyright 2010-2019 ABB. All rights reserved.

  • Page 44: User Documentation

    User documentation The user documentation describes the robot in detail, including service and safety instructions. All documents can be found via myABB Business Portal, www.myportal.abb.com. Product specification - IRB 120 3HAC035960-001 Revision: T © Copyright 2010-2019 ABB. All rights reserved.

  • Page 45: Accessories

    For more information, see Product specification - Controller IRC5 and Product specification - Controller software IRC5. Robot peripherals • Motor Units Not applicable for IRC5 Compact controller. Product specification - IRB 120 3HAC035960-001 Revision: T © Copyright 2010-2019 ABB. All rights reserved.
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  • Page 47: Index

    1 stop, 37 stopping distances, 37 compensation parameters, 30 stopping times, 37 documentation, 44 user documentation, 44 instructions, 44 variants, 39 manuals, 44 warranty, 40 options, 39 Product specification - IRB 120 3HAC035960-001 Revision: T © Copyright 2010-2019 ABB. All rights reserved.
  • Page 50 PuDong District SHANGHAI 201319, China Telephone: +86 21 6105 6666 ABB Inc. Robotics and Motion 1250 Brown Road Auburn Hills, MI 48326 Telephone: +1 248 391 9000 abb.com/robotics © Copyright 2010-2019 ABB. All rights reserved. Specifications subject to change without notice.

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