ABB IRB 4400/45 Product Specification
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ABB IRB 4400/45 Product Specification

Articulated robot
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Product specification
Articulated robot
IRB 4400/45
IRB 4400/60
IRB 4400/L30
IRB 4400/L10
IRB 4450/S
M2004

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Summary of Contents for ABB IRB 4400/45

  • Page 1 Product specification Articulated robot IRB 4400/45 IRB 4400/60 IRB 4400/L30 IRB 4400/L10 IRB 4450/S M2004...
  • Page 3 Product specification Articulated robot 3HAC9117-1 Rev.N IRB 4400/45 IRB 4400/60 IRB 4400/L30 IRB 4400/L10 IRB 4450/S M2004...
  • Page 4 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, fit- ness for a specific purpose or the like.

  • Page 5: Table Of Contents

    Table of Contents Overview 1 Description 1.1 Structure ............... . .7 1.1.1 Introduction .
  • Page 6 Table of Contents Rev.N 3HAC9117-1...
  • Page 7 Overview 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 •...
  • Page 8 Overview Complementary Product specifications Product Description specification Controller IRC5 with FlexPendant, 3HAC021785-001 Controller Software RobotWare 5.11, 3HAC022349-001 IRC5 Robot User Documen- IRC5 and M2004, 3HAC024534-001 tation Rev.N 3HAC9117-1...

  • Page 9: Description

    The manipulator can withstand surrounding solvent based detergent (max. pH 9.0 and must contain rust inhibitor). The detergent must be approved by ABB. In addi- tion, the manipulator can withstand indirect spray from jet pressure (max. 600 bar) and 100% humidity.
  • Page 10 1 Description 1.1.1 Introduction Clean Room robots The Clean Room robots are classified for clean room class 100 according to US Federal Standard 209 or class 5 according to ISO 14644-1. The performed clean room test has classify the air cleanliness exclusively in terms of concentration of airborne particles generated by the robot.

  • Page 11: Different Robot Versions

    1.1.2 Different robot versions 1.1.2 Different robot versions General The IRB 4400 is available in five different versions. Robot type Handling capacity (kg) Reach (m) IRB 4400/45 45 kg 1.96 m IRB 4400/60 60 kg 1.96 m IRB 4400/L30 30 kg 2.43 m...
  • Page 12 1 Description 1.1.3 Definition of version designation Power consumption Path E1-E2-E3-E4 in the ISO Cube, maximum load. IRB 4400/45 (Cube side = 630 mm) Speed [mm/s] Power consumption [kW] Max. 1.36 1000 0.95 0.74 0.62 IRB 4400/60 (Cube side = 630 mm)
  • Page 13 1 Description 1.1.3 Definition of version designation IRB 4400/L30 (Cube side = 1000 mm) Speed [mm/s] Power consumption [kW] Max. 1.15 1000 0.86 0.73 0.64 IRB 4400/L10 (Cube side = 1000 mm) Speed [mm/s] Power consumption [kW] Max. 1.28 1000 0.63 0.53 0.48...
  • Page 14 1 Description 1.1.3 Definition of version designation Dimensions IRB 4400/45, IRB 4400/60, IRB 4400/L30: Figure 4 View of the manipulator from the side (dimensions in mm). Description 880 for 4400/45 and /60 1380 for 4400/L30 Rev.N 3HAC9117-1...
  • Page 15 1 Description 1.1.3 Definition of version designation Figure 5 View of the manipulator from the side (dimensions in mm). IRB 4400/45, IRB 4400/60 and IRB 4400/L30: Figure 6 View of the manipulator from above (dimensions in mm). 3HAC9117-1 Rev.N...
  • Page 16 1 Description 1.1.3 Definition of version designation IRB 4400/L10: Figure 7 View of the manipulator from the side and above (dimensions in mm). Rev.N 3HAC9117-1...
  • Page 17 1 Description 1.1.3 Definition of version designation IRB 4450/S: Figure 8 View of the manipulator from the side, behind and above (dimensions in mm). 3HAC9117-1 Rev.N...

  • Page 18: Safety/Standards

    1 Description 1.2.1 Standards 1.2 Safety/Standards 1.2.1 Standards The robot conforms to the following standards: Standard Description EN ISO 12100-1 Safety of machinery, terminology EN ISO 12100-2 Safety of machinery, technical specifications EN 954-1 Safety of machinery, safety related parts of control systems EN 60204 Electrical equipment of industrial machines EN ISO 60204-1:2006...

  • Page 19: Safety

    1 Description 1.2.2 Safety 1.2.2 Safety The robot is designed with absolute safety in mind. It has a dedicated safety system based on a two-channel circuit which is monitored continuously. If any component fails, the electrical power supplied to the motors shuts off and the brakes engage. Safety category 3 Malfunction of a single component, such as a sticking relay, will be detected at the next MOTOR OFF/MOTOR ON operation.
  • Page 20 1 Description 1.2.2 Safety Safeguarded space stop The robot has a number of electrical inputs which can be used to connect external safety equipment, such as safety gates and light curtains. This allows the robot’s safety functions to be activated both by peripheral equipment and by the robot itself. Delayed safeguarded space stop A delayed stop gives a smooth stop.

  • Page 21: Installation

    1 Description 1.3.1 Introduction 1.3 Installation 1.3.1 Introduction General All the versions of IRB 4400 are designed for floor mounting except one version for shelf-mounting. Depending on the robot version an end effector of max. weight 10 to 60 kg, including payload, can be mounted on the mounting flange (axis 6). See section Load diagrams .

  • Page 22: Operating Requirements

    1 Description 1.3.2 Operating requirements 1.3.2 Operating requirements Protection standards Description Protection standard IEC 60529 Standard and Clean Room Manipulator IP54 Foundry Manipulator IP67, steam washable Clean room standards Clean room manipulator: US Federal Standard 209, class 100 or ISO 14644-1 class 5. Explosive environments The robot must not be located or operated in an explosive environment.

  • Page 23: Mounting The Manipulator

    1 Description 1.3.3 Mounting the manipulator 1.3.3 Mounting the manipulator Maximum load in relation to the base coordinate system. Endurance load in operation Max. load at emergency stop all IRB 4400 all IRB 4400 Force xy ± 7500 N ± 9000 N Force z + 9500 ±...
  • Page 24 1 Description 1.3.3 Mounting the manipulator Figure 9 Direction of forces. Note regarding M and F The bending torque (M ) can occur in any direction in the XY-plane of the base coordinate system. The same applies to the transverse force (F Rev.N 3HAC9117-1...
  • Page 25 1 Description 1.3.3 Mounting the manipulator Figure 10 Hole configuration (dimensions in mm). Description Z = center line axis 1 The same dimensions View from the bottom of the base Section 3HAC9117-1 Rev.N...
  • Page 26 1 Description 1.3.3 Mounting the manipulator Mounting surface and bushings Figure 11 Mounting surface and bushings. Description Surface treatment, ISO 2081 Fe/Zn 8 c2 Guide Bushings Common zone Rev.N 3HAC9117-1...

  • Page 27: Calibration And References

    1 Description 1.4.1 Fine calibration 1.4 Calibration and References 1.4.1 Fine calibration General Fine calibration is made using the Calibration Pendulum, please see Operating manual - Calibration Pendulum. Figure 12 All axes in zero position. Calibration Position Calibration of all axes All axes are in zero position Calibration of axis 1 and 2 Axis 1 and 2 in zero position...

  • Page 28: Absolute Accuracy Calibration

    1 Description 1.4.2 Absolute Accuracy calibration 1.4.2 Absolute Accuracy calibration General Requires RobotWare option Absolute Accuracy, please see Product specification - Controller software IRC5/RobotWare for more details. The calibration concept Absolute Accuracy (AbsAcc) is a calibration concept, which ensures a TCP absolute accuracy of better than ±1 mm in the entire working range.
  • Page 29 Typical production data regarding calibration are: Positioning accuracy (mm) Robot Average % Within 1 mm IRB 4400/45, -/60, 0.30 0.75 -/L30 and -/L10 IRB 4450/S a. For detailed data and data missing in the table, please contact ABB for more in- formation. 3HAC9117-1 Rev.N...

  • Page 30: Load Diagrams

    1 Description 1.5.1 Introduction 1.5 Load diagrams 1.5.1 Introduction It is very important to always define correct actual load data and correct payload of the robot. Incorrect definitions of load data can result in overloading of the robot. If incorrect load data and/or loads outside load diagram is used the following parts can be damaged due to overload: •...

  • Page 31: Diagrams

    1 Description 1.5.2 Diagrams 1.5.2 Diagrams IRB 4400/45 Figure 14 Maximum weight permitted for load mounted on the mounting flange at different positions (center of gravity). Description See the above diagram and the coordinate system in the Product specification - IRC5 with FlexPendant.
  • Page 32 1 Description 1.5.2 Diagrams IRB 4400/60 Figure 15 Maximum weight permitted for load mounted on the mounting flange at different positions (center of gravity). Description See the above diagram and the coordinate system in the Product specification - IRC5 with FlexPendant. Distance in X-Y plane from Z-axis to the center of gravity.
  • Page 33 1 Description 1.5.2 Diagrams IRB 4400/L30 and IRB 4450/S Figure 16 Maximum weight permitted for load mounted on the mounting flange at different positions (center of gravity). Description See the above diagram and the coordinate system in the Product specification - IRC5 with FlexPendant.
  • Page 34 1 Description 1.5.2 Diagrams IRB 4400/L10 Figure 17 Maximum weight permitted for load mounted on the mounting flange at different positions (center of gravity). Description See the above diagram and the coordinate system in the Product specification - IRC5 with FlexPendant. Distance in X-Y plane from Z-axis to the center of gravity.

  • Page 35: Maximum Load And Moment Of Inertia For Full Axis 5 Movement

    ≤ IRB 4400/L30, = Mass x L 12.0 kgm IRB 4450S Axis Robot Type Max. value ≤ IRB 4400/45 = Mass x ((Z + 0.14) ) + max (J 25.0 kgm ≤ IRB 4400/45 = Mass x L 16.5 kgm Axis Robot Type Max.

  • Page 36: Wrist Torque

    Also arm loads will influence the per- mitted load diagram. For finding the absolute limits of the load diagram, please contact your local ABB organization Max wrist torque Max wrist torque...

  • Page 37: Mounting Equipment

    1 Description 1.6.1 Introduction 1.6 Mounting equipment 1.6.1 Introduction IRB 4400/45, IRB 4400/60, IRB 4400/L30 and IRB 4450/S Max. 15 kg B - B 29.5 29.5 A - A D - D D=100 (3x) C - C Figure 19 The shaded area indicates the permitted positions (center of gravity) for any extra equipment mounted in the holes (dimensions in mm).
  • Page 38 1 Description 1.6.1 Introduction Description 571 for 4400/45, /60 and 4450S 1071 for 4400L/30 M6 (2x) tapped depth 12 Max. 5 kg for 4400/45 and /60 at max. handling weight 5 kg for 4400L/30 and 4450S if handling weight is max. 25 kg, 0 kg if handling weight is 30 kg M8 (3x), R = 92, Depth 16 (If option 34-1 is chosen these holes are occupied.) Max.
  • Page 39 1 Description 1.6.1 Introduction IRB 4400/L10 Max. 15 kg B - B 1221 M5 (2x) Max. 2 kg A - A D=100 Max. 35 kg (3x) C - C Figure 20 The shaded area indicates the permitted positions (center of gravity) for any extra equipment mounted in the holes (dimensions in mm).

  • Page 40: Robot Tool Flange

    1 Description 1.6.2 Robot tool flange 1.6.2 Robot tool flange IRB 4400/45, IRB 4400/60, IRB 4400/L30 and IRB 4450/S Figure 21 The mechanical interface, mounting flange (dimensions in mm). IRB 4400/L10 Figure 22 The mechanical interface, mounting flange (dimensions in mm).

  • Page 41: Maintenance And Troubleshooting

    1 Description 1.7.1 Introduction 1.7 Maintenance and Troubleshooting 1.7.1 Introduction General The robot requires only a minimum of maintenance during operation. It has been designed to make it as easy to service as possible: • Maintenance-free AC motors are used •...

  • Page 42: Robot Motion

    1 Description 1.8.1 Introduction 1.8 Robot Motion 1.8.1 Introduction IRB 4400/45 and IRB 4400/60 Type of motion Range of movement Axis 1 Rotation motion + 165° to - 165° Axis 2 Arm motion + 95° to - 70° Axis 3 Arm motion + 65°...
  • Page 43 1 Description 1.8.1 Introduction Figure 23 The extreme positions of the robot arm IRB 4400/45 and /60 (dimensions in mm). Positions (mm) and Angles (degrees) for IRB 4400/45 and IRB 4400/60: Angle Angle Position No. Position Position (degrees) (degrees) (see Figure 23)
  • Page 44 1 Description 1.8.1 Introduction IRB 4400/L30 Type of motion Range of movement Axis 1 Rotation motion + 165° to - 165° Axis 2 Arm motion + 95° to - 70° Axis 3 Arm motion + 65° to - 60° Axis 4 Wrist motion + 200°...
  • Page 45 1 Description 1.8.1 Introduction Figure 24 The extreme positions of the robot arm IRB 4400/L30 (dimensions in mm). Positions (mm) and Angles (degrees) for IRB 4400/L30: Angle Angle Position No. Position Position (degrees) (degrees) (see Figure 24) (mm) X (mm) Z Axis 2 Axis 3 1580...
  • Page 46 1 Description 1.8.1 Introduction IRB 4400/L10 Type of motion Range of movement Axis 1 Rotation motion + 165° to - 165° Axis 2 Arm motion + 95° to - 70° Axis 3 Arm motion + 65° to - 60° Axis 4 Wrist motion + 200°...
  • Page 47 1 Description 1.8.1 Introduction Figure 25 The extreme positions of the robot arm IRB 4400/L10 (dimensions in mm). Positions (mm) and Angles (degrees) for IRB 4400/L10: Angle Angle Position No. Position Position (degrees) (degrees) (see Figure 25) (mm) X (mm) Z Axis 2 Axis 3 1700...
  • Page 48 1 Description 1.8.1 Introduction IRB 4450/S Type of motion Range of movement Axis 1 Rotation motion + 165° to - 165° Axis 2 Arm motion + 95° to - 70° Axis 3 Arm motion + 65° to - 60° Axis 4 Wrist motion + 200°...
  • Page 49 1 Description 1.8.1 Introduction Figure 26 The extreme positions of the robot arm IRB 4450/S (dimensions in mm). Positions (mm) and Angles (degrees) for IRB 4450/S: Angle Angle Position No. Position Position (degrees) (degrees) (see Figure 26) (mm) X (mm) Z Axis 2 Axis 3 2006...

  • Page 50: Performance According To Iso 9283

    1 Description 1.8.2 Performance according to ISO 9283 1.8.2 Performance according to ISO 9283 General At rated load and 1,6 m/s velocity on the inclined ISO test plane with all six robot axes in motion. The figures for AP, RP, AT and RT are mesured according to Figure 27. Figure 27 Explanation of ISO values.

  • Page 51: Velocity

    1 Description 1.8.3 Velocity 1.8.3 Velocity Axis no. IRB 4400/45/60/L30 and IRB 4450/S IRB 4400/L10 150°/s 150°/s 120°/s 150°/s 120°/s 150°/s 225°/s 370°/s 250°/s 330°/s 330°/s 381°/s Supervision is required to prevent overheating in applications with intensive and frequent movements.

  • Page 52: Stopping Distance/Time

    Robot Type Axis IRB 4400L/30 n.a. n.a. Category 0 Category 1 Main power failure Robot Type Axis IRB 4400/45 Category 0 Category 1 Main power failure Robot Type Axis IRB 4400/60 Category 0 Category 1 Main power failure Robot Type...

  • Page 53: Signals

    1 Description 1.8.5 Signals 1.8.5 Signals Signal connections on robot arm To connect extra equipment on the manipulator, there are cables integrated into the manipulator’s cabling, one FCI UT07 14 12SH44N connector and one FCI UT07 18 23SH44N connector on the rear part of the upper arm. Hose for compressed air is also integrated into the manipulator.
  • Page 54 1 Description 1.8.5 Signals Rev.N 3HAC9117-1...

  • Page 55: Specification Of Variants And Options

    30/2.43 435-41 IRB 4400/L10 10/2.55 435-62 IRB 4450S 30/2.40 Manipulator color Option Description 209-1 Protection Standard and Foundry have color ABB Orange and protection Clean Room has color white 209-4--192 The manipulator is painted with the chosen RAL-color. 3HAC9117-1 Rev.N...
  • Page 56 The manipulator can withstand surrounding solvent based detergent (max. pH 9.0 and must contain rust inhibitor). The detergent must be approved by ABB. In addition, the manipulator can withstand indirect spray from jet pressure (max. 600 bar) and 100% humidity. The manipulator can work in an environment with a cleaning bath temperature <...
  • Page 57 2 Specification of Variants and Options 2.1.2 Manipulator Application interface Air supply and signals for extra equipment to upper arm: Option Description 218-8 Integrated hose and cables for connection of extra equipment on the manipu- lator to the rear end of the upper arm. Figure 28 Integrated hose and cables.
  • Page 58 2 Specification of Variants and Options 2.1.2 Manipulator Application interface Connection to Option Description 16-1 Cabinet The signals are connected to 12-pole screw terminals, Phoenix MSTB 2.5/12-ST-5.08, to the the controller. a. Note! In a M2004 MultiMove application additional robots have no Control Mod- ule.
  • Page 59 2 Specification of Variants and Options 2.1.2 Manipulator Electronic Position Switches (EPS) The mechanical position switches indicating the position of the three main axes are replaced with electronic position switches for up to 7 axes, for increased flexibility and robustness. For more detailed information, see Product specification - Controller IRC5 with FlexPendant and Application Manual Electronic Position Switches, art.
  • Page 60 Two extra stops for restricting the working range.The stops can be mounted within the area from 65° to 125°. See Figure 31. IRB 4400/45 IRB 4400/60 IRB 4400/L30 IRB 4400/L10 Figure 32 Mounting positions of the stops, axis 2. Option...
  • Page 61 Stock Warranty Maximum 6 months postponed warranty starting from shipment date ABB Robotics Production unit (PRU) + Option 438-1. Warranty commences automatically after 6 months or from activation date of standard warranty. (See ABB Robotics BA Warranty Rules). 3HAC9117-1 Rev.N...

  • Page 62: Floor Cables

    2 Specification of Variants and Options 2.1.3 Floor cables 2.1.3 Floor cables Manipulator cable length Option Lengths 210-2 210-3 15 m 210-4 22 m 210-5 30 m Connection of parallel communication Option Lengths 94-1 94-2 15 m 94-3 22 m 94-4 30 m 2.1.4 Documentation...

  • Page 63: Accessories

    3 Accessories 3 Accessories Basic software and software options for robot and PC For more information, see Product specification - Controller IRC5 with Flex- Pendant and Product specification - Controller software IRC5/RobotWare. Robot Peripherals • Track Motion • Motor Units 3HAC9117-1 Rev.N...
  • Page 64 3 Accessories Rev.N 3HAC9117-1...
  • Page 65 Index accessories range of movement accuracy working space air supply reduced speed repeatability Robot Peripherals connector kit robot versions cooling device safeguarded space stop emergency stop delayed enabling device safety equipment safety lamp mounting service permitted extra load service position indicator extra equipment signal connections connections...
  • Page 66 Index Rev.N 3HAC9117-1...
  • Page 68 ABB AB Robotics Products S-721 68 VÄSTERÅS SWEDEN Telephone: +46 (0) 21 344000 Telefax: +46 (0) 21 132592...

This manual is also suitable for:

Irb 4400/60Irb 4400/l30Irb 4400/l10Irb 4450/sM2004

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