ABB IRB 660 Product Specification
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ABB IRB 660 Product Specification

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IRB 660

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Summary of Contents for ABB IRB 660

  • Page 1 ROBOTICS Product specification IRB 660...
  • Page 2 Trace back information: Workspace 21D version a10 Checked in 2021-12-06 Skribenta version 5.4.005...
  • Page 3 Product specification IRB 660-180/3.15 IRB 660-250/3.15 IRC5 Document ID: 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved. Specifications subject to change without notice.
  • 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, damage 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 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.
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  • Page 7: Overview Of This Specification

    - Changes in Figure 3 and Figure 16. - Update Customer connections- Interbus removed - Footnote added to “Pose accuracy” - Stock Warranty Continues on next page Product specification - IRB 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.
  • Page 8 Specification updated in customer connection section for DressPack, Parallel and Ethernet communication. • Removed Axis resolution. • Updated information about the option Extended working range. Continues on next page Product specification - IRB 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.
  • Page 9 The data for robot stopping distances is removed. See Product specification - Robot stopping distances accord- ing to ISO 10218-1. • Description for option 455-8 updated. Product specification - IRB 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.

  • Page 10: Overview

    - Changes in Figure 3 and Figure 16. - Update Customer connections- Interbus removed - Footnote added to “Pose accuracy” - Stock Warranty Continues on next page Product specification - IRB 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.
  • Page 11 Minor corrections of foundation forces • Machinery directive updated • Minor corrections • Base plate drawing updated • Minor corrections/update • Text for ISO test adjusted Product specification - IRB 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.
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  • Page 13: Description

    ABB’s robots. It is available in two versions; a handling capacity of 180 kg and 250 kg, both with a reach of 3.15 m.
  • Page 14 1 Description 1.1.1 Introduction Continued Manipulator axes The IRB 660 manipulator has 4 axes as shown in the following figure. en1000000670 Pos. Description Axis 1 Axis 2 Axis 3 Axis 6 Product specification - IRB 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.

  • Page 15: Different Robot Versions

    1 Description 1.1.2 Different robot versions 1.1.2 Different robot versions General The IRB 660 is available in two versions. Robot type Handling capacity (kg) Reach (m) IRB 660 3.15 IRB 660 3.15 Product specification - IRB 660 3HAC023932-001 Revision: X...

  • Page 16: Definition Of Version Designation

    Airborne noise level The sound pressure level < 70 dB (A) Leq (acc. to Ma- outside the working space chiney directive 2006/42/EG). Continues on next page Product specification - IRB 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.
  • Page 17 IRB 660-250/3.15 Max. speed 3.08 2.34 The path E1-E2-E3-E4 in the ISO Cube is shown in the following figure. xx1000000101 Description 1000mm Continues on next page Product specification - IRB 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.
  • Page 18 At max. working range axis 2 At max. working range axis 3 At min. working range axis 3 Radius for fork lift pocket Radius for axis 3 motor Product specification - IRB 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.

  • Page 19: Standards

    – Immunity standard for industrial environments IEC 61000-6-4 Electromagnetic compatibility (EMC) – Part 6-4: Generic standards – Emission standard for industrial environments Continues on next page Product specification - IRB 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.
  • Page 20 Degrees of protection provided by enclosures (IP code) Only valid for arc welding robots. Replaces IEC 61000-6-4 for arc welding robots. Only robots with protection Clean Room. Product specification - IRB 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.

  • Page 21: Installation

    1.3.1 Introduction General IRB 660 is designed for floor mounting (no tilting allowed around X or Y axis). Depending on the robot version, an end effector with maximum weight of 180 to 250 kg including payload, can be mounted on the mounting flange (axis 6). For...

  • Page 22: Operating Requirements

    Relative humidity Description Relative humidiy Complete robot during operation, transportation and Maximum 95% at constant temperat- storage Product specification - IRB 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.

  • Page 23: Mounting The Manipulator

    ) 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 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.
  • Page 24 Regarding AbsAcc performance, the recommended are the chosen guide holes those are according to the following base plate drawing. Continues on next page Product specification - IRB 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.
  • Page 25 E, F, G, H Common tolerance zone (accuracy all over the base plate from one contact surface to the other) Continues on next page Product specification - IRB 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.
  • Page 26 625 (2x) R50 (12x) 4x Ø18. 325 (2x) 241,1 250,5 225,8 138,4 109,1 xx1000001054 Description Color: RAL 9005 Thickness: 80-100 µm Continues on next page Product specification - IRB 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.
  • Page 27 1 Description 1.3.3 Mounting the manipulator Continued xx1000001055 Description Guide sleeve protected from corrosion Product specification - IRB 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.

  • Page 28: Calibration

    Axis Calibration method Axis Calibration is a standard calibration method for calibration of IRB 660. It is the recommended method in order to achieve proper performance. The following routines are available for the Axis Calibration method: •...
  • Page 29 The actual instructions of how to perform the calibration procedure and what to do at each step is given on the FlexPendant. You will be guided through the calibration procedure, step by step. Product specification - IRB 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.

  • Page 30: Fine Calibration

    - Calibration Pendulum or Axis calibration, see Product manual - IRB 4600 and Product manual - IRB 4600 Foundry Prime. The following figure shows all axes in zero position. xx1800001381 Continues on next page Product specification - IRB 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.
  • Page 31 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 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.

  • Page 32: Load Diagrams

    The result from RobotLoad is only valid within the maximum loads and tilt angles. There is no warning if the maximum permitted arm load is exceeded. For over-load cases and special applications, contact ABB for further analysis. Product specification - IRB 660 3HAC023932-001 Revision: X ©...

  • Page 33: Load Diagrams

    The following figures shows the maximum permitted load mounted on the robot tool flange at different positions (center of gravity). xx1000000832 Continues on next page Product specification - IRB 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.
  • Page 34 1.5.2 Load diagrams Continued IRB 660-250/3.15 The following figures shows the maximum permitted load mounted on the robot tool flange at different positions (center of gravity). xx1000000833 Product specification - IRB 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.

  • Page 35: Maximum Load And Moment Of Inertia

    Ja6 = Load x L ≤ 250 kgm xx1000000834 Description Center of gravity Description Max. moment of inertia around the X, Y and Z axes at center of gravity. Product specification - IRB 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.

  • Page 36: Maximum Tcp Acceleration

    Nominal load is defined with nominal mass and cog with max offset in Z and L (see the load diagram). Product specification - IRB 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.

  • Page 37: Mounting Of Equipment

    Position Description R750 Right fork lift pocket M10 Mounting hole, upper arm Continues on next page Product specification - IRB 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.
  • Page 38 R is the radius (m) from the center of axis1. M is the total mass (kg) of the extra load. xx1000000836 Continues on next page Product specification - IRB 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.
  • Page 39 1 Description 1.6.1 Overview Continued The following figure shows the radius for extra load on frame. xx1000000837 Continues on next page Product specification - IRB 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.
  • Page 40 1.6.1 Overview Continued Robot tool flange The following figure shows the robot tool flange SS-EN ISO 9409-1;2004 (dimensions in mm). xx0500002292 Continues on next page Product specification - IRB 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.
  • Page 41 When fitting tools on the tool flange, only use screws with quality 12.9. For other equipment use suitable screws and tightening torque for your application. Product specification - IRB 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.

  • Page 42: Robot Motion

    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). Continues on next page Product specification - IRB 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.
  • Page 43 Position number (see pre- X Position Z Position Axis2 Angle Axis3 Angle ceding figure) (mm) (mm) (degrees) (degrees) 1910 1833 1966 1160 -505 3139 2809 1837 Product specification - IRB 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.

  • Page 44: Performance According To Iso 9283

    The above values are the range of average test results from a number of robots. Product specification - IRB 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.

  • Page 45: Velocity

    IRB 660-250/3.15 130°/s 95°/s 130°/s 95°/s 130°/s 95°/s 300°/s 240°/s There is a supervision function to prevent overheating in applications with intensive and frequent movements. Product specification - IRB 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.

  • Page 46: 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 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.

  • Page 47: Customer Connections

    (5A/250VAC) 8 pin9 140 earth shell size 083 101 10B, EE Ethernet with wire colors according to PROFINET standard Continues on next page Product specification - IRB 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.
  • Page 48 5 screened (50V/1A) 253 101 pair twisted 10B, HD+EE Air (AIR) Utility air 2x12.7 (1/2”) Parker Push- lock,1/2” = 16 bar M22x1,5 Brass 24 degree seal Product specification - IRB 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.

  • Page 49: Maintenance And Troubleshooting

    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 Product manual - IRB 660, chapter Maintenance. Product specification - IRB 660 3HAC023932-001 Revision: X...
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  • Page 51: Specification Of Variants And Options

    2.1 Introduction to variants and options General The different variants and options for the IRB 660 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 52: Manipulator

    7 axes, for increased flexibility and robustness. For more detailed information, see Product specification - Controller IRC5 with FlexPendant. Continues on next page Product specification - IRB 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.
  • Page 53 Warranty For the selected period of time, ABB will provide spare parts and labour to repair or replace the non-conforming portion of the equipment without additional charges. During that period, it is required to have a yearly Preventative Maintenance according to ABB manuals to be performed by ABB.
  • Page 54 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 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.

  • Page 55: Floor Cables

    Additional floor cables for customer connections see Process on page Manipulator cable length Option Lengths 210-2 210-3 15 m 210-4 22 m 210-5 30 m Product specification - IRB 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.

  • Page 56: Process

    See Product specification - Controller IRC5 with FlexPendant Connector kits upper arm Option Type Description 431-1 Upper arm Connector for customer Power/Signals/ and bus at axis 6 tool side. Product specification - IRB 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.

  • Page 57: 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.abb.com/myABB. Product specification - IRB 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.
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  • Page 59: Accessories

    For more information, see Product specification - Controller IRC5 and Application manual - Controller software IRC5. Robot peripherals • Motor Units Not applicable for IRC5 Compact controller. Product specification - IRB 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.
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  • Page 61: Index

    53 stopping distances, 46 extra load, 37 stopping times, 46 fine calibration, 30 user documentation, 57 instructions, 57 variants, 51–52 ISO 9283, 44 warranty, 53 Product specification - IRB 660 3HAC023932-001 Revision: X © Copyright 2004-2021 ABB. All rights reserved.
  • Page 64 SHANGHAI 201319, China Telephone: +86 21 6105 6666 ABB Inc. Robotics & Discrete Automation 1250 Brown Road Auburn Hills, MI 48326 Telephone: +1 248 391 9000 abb.com/robotics © Copyright 2004-2021 ABB. All rights reserved. Specifications subject to change without notice.

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