ABB IRB 920 Product Specification
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ABB IRB 920 Product Specification

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IRB 920

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Summary of Contents for ABB IRB 920

  • Page 1 ROBOTICS Product specification IRB 920...
  • Page 2 Trace back information: Workspace 21C version a1 Checked in 2021-09-23 Skribenta version 5.4.005...
  • Page 3 Product specification IRB 920T-6/0.45 IRB 920T-6/0.55 IRB 920T-6/0.65 OmniCore Document ID: 3HAC075723-001 Revision: A © Copyright 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

    Robot stopping distances and times ............Customer connections ..................Specification of variants and options Introduction to variants and options ..............Manipulator ...................... Floor cables ..................... Accessories Index Product specification - IRB 920 3HAC075723-001 Revision: A © Copyright 2021 ABB. All rights reserved.
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  • Page 7: Overview Of This Specification

    Order and customer service personnel References Documentation referred to in the specification, is listed in the table below. Document name Document ID Product manual, spare parts - IRB 920 3HAC075722-001 Product manual - IRB 920 3HAC075721-001 Product manual - OmniCore C30...
  • Page 8 Continued Document name Document ID Technical reference manual - Lubrication in gearboxes 3HAC042927-001 Technical reference manual - System parameters 3HAC065041-001 Revisions Revision Description First edition. Product specification - IRB 920 3HAC075723-001 Revision: A © Copyright 2021 ABB. All rights reserved.

  • Page 9: Description

    1.1.1 Introduction General The IRB 920 is one of ABB Robotics latest generation of 4-axis robot, with a payload of 6 kg, designed based on industrial robot platform. The robot has an open structure that is especially adapted for flexible use, and can communicate extensively with external systems.
  • Page 10 1 Description 1.1.1 Introduction Continued Robot axes xx2100000931 Description Description Axis 1 Axis 2 Axis 3 Axis 4 Product specification - IRB 920 3HAC075723-001 Revision: A © Copyright 2021 ABB. All rights reserved.

  • Page 11: Different Robot Versions

    1 Description 1.1.2 Different robot versions 1.1.2 Different robot versions General The IRB 920 is available in three versions. Robot types The following robot versions are available. Robot type Handling capacity (kg) Reach (m) IRB 920T-6/0.45 6 kg 0.45 m IRB 920T-6/0.55...

  • Page 12: Definition Of Version Designations

    The weight does not include tools and other equipment fitted on the robot! Loads on foundation, robot xx2000001168 Force in any direction in Plane XY Continues on next page Product specification - IRB 920 3HAC075723-001 Revision: A © Copyright 2021 ABB. All rights reserved.
  • Page 13 If resolver/encoder calibration is changed this will influence the absolute accuracy. Maximum tilt 0° Continues on next page Product specification - IRB 920 3HAC075723-001 Revision: A © Copyright 2021 ABB. All rights reserved.
  • Page 14 Protection type Protection class Manipulator, protection type Standard IP30 The protection class of the ballscrew area is IP20. For more information, please contact ABB. Continues on next page Product specification - IRB 920 3HAC075723-001 Revision: A © Copyright 2021 ABB. All rights reserved.
  • Page 15 6/0.55 6/0.65 Brakes engaged (W) Brakes disengaged (W) xx1000000101 Description 250 mm Dimensions for rear outlet cable version Robots with protection class IP30 (164) xx2000001145 Product specification - IRB 920 3HAC075723-001 Revision: A © Copyright 2021 ABB. All rights reserved.
  • Page 16 Robots with protection class IP30 （116） xx2000001146 0.45_0.18 0.45_0.3 0.55_0.18 0.55_0.3 0.65_0.18 0.65_0.3 190mm 190mm 290mm 290mm 390mm 390mm 596.5 716.5 596.5 716.5 596.5 716.5 Product specification - IRB 920 3HAC075723-001 Revision: A © Copyright 2021 ABB. All rights reserved.

  • Page 17: Standards

    Robots and robotic devices -- Coordinate systems and motion nomenclatures IEC 61000-6-2 Electromagnetic compatibility (EMC) – Part 6-2: Generic standards – Immunity standard for industrial environments Continues on next page Product specification - IRB 920 3HAC075723-001 Revision: A © Copyright 2021 ABB. All rights reserved.
  • Page 18 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 920 3HAC075723-001 Revision: A © Copyright 2021 ABB. All rights reserved.

  • Page 19: Installation

    1.3.1 Introduction to installation General IRB 920 is available in three variants and all variants can only be floor mounted. Depending on the robot variant, an end effector with max. weight of 6 kg including payload, can be mounted on the lower end of the ball screw spline shaft (axis 4).

  • Page 20: Information Labels

    Resolver Values Manual Label xx2000001143 ABB logo (Big size) ABB logo (Small size) Rating label Calibration label UL label WEEE label Read manual and caution Product specification - IRB 920 3HAC075723-001 Revision: A © Copyright 2021 ABB. All rights reserved.

  • Page 21: Assembling The Manipulator

    Hole configuration, base This illustration shows the hole configuration used when securing the robot. Illustration for rear outlet cable version: 4x 13.5 xx2000001147 Continues on next page Product specification - IRB 920 3HAC075723-001 Revision: A © Copyright 2021 ABB. All rights reserved.
  • Page 22 1 Description 1.3.3 Assembling the manipulator Continued Illustration for undeneath outlet cable version: 13.5 (136.8) xx2000001148 Product specification - IRB 920 3HAC075723-001 Revision: A © Copyright 2021 ABB. All rights reserved.

  • Page 23: Calibration And References

    Brief description of calibration methods Axis Calibration method Axis Calibration is a standard calibration method for calibration of IRB 920 and is the most accurate method for the standard calibration. It is the recommended method in order to achieve proper performance.
  • Page 24 This is printed on the robot name plate for each robot. The robot must be in the correct mounting position when it is recalibrated for absolute accuracy. Product specification - IRB 920 3HAC075723-001 Revision: A © Copyright 2021 ABB. All rights reserved.

  • Page 25: Fine Calibration

    For detailed information on calibration of the robot see Product manual - IRB 920. xx2100000931 Posi- Description Posi- Description tion tion Axis 1 Axis 2 Axis 3 Axis 4 Product specification - IRB 920 3HAC075723-001 Revision: A © Copyright 2021 ABB. All rights reserved.

  • Page 26: Absolute Accuracy Option

    A robot with Absolute Accuracy calibration has a label with this information on the manipulator. Continues on next page Product specification - IRB 920 3HAC075723-001 Revision: A © Copyright 2021 ABB. All rights reserved.
  • Page 27 Absolute Accuracy is active for the manipulator but not for the additional axis or track motion. RAPID instructions There are no RAPID instructions included in this option. Product specification - IRB 920 3HAC075723-001 Revision: A © Copyright 2021 ABB. All rights reserved.

  • Page 28: Load Diagrams

    For robots that are inverted mounted, the load diagrams as given are valid and thus it is also possible to use RobotLoad within those tilt and axis limits. Product specification - IRB 920 3HAC075723-001 Revision: A © Copyright 2021 ABB. All rights reserved.

  • Page 29: Diagrams

    3 KG 0.20 2 KG 0.30 1 KG 0.40 0.50 0.60 xx2000001807 Description Max load 6 kg 0.102 m 0.115 m Continues on next page Product specification - IRB 920 3HAC075723-001 Revision: A © Copyright 2021 ABB. All rights reserved.
  • Page 30 3 KG 0.20 2 KG 0.30 1 KG 0.40 0.50 0.60 xx2000001808 Description Max load 6 kg 0.102 m 0.115 m Continues on next page Product specification - IRB 920 3HAC075723-001 Revision: A © Copyright 2021 ABB. All rights reserved.
  • Page 31 5 KG 0.10 4 KG 3 KG 0.20 2 KG 0.30 1 KG 0.40 0.50 0.60 xx2000001809 Description Max load 6 kg 0.102 m 0.115 m Product specification - IRB 920 3HAC075723-001 Revision: A © Copyright 2021 ABB. All rights reserved.

  • Page 32: Maximum Load And Moment Of Inertia

    Total load given as: Mass in kg, center of gravity (Z and L) in m and moment of inertia (J ) in kgm . L= √(X For IRB 920, L is 0 mm at the default rating and its maximum value changes with the payload. See Load diagrams on page Full movement...

  • Page 33: Fitting Equipment On The Robot (Robot Dimensions)

    Illustration for undeneath outlet cable version: （116） xx2000001146 0.45_0.18 0.45_0.3 0.55_0.18 0.55_0.3 0.65_0.18 0.65_0.3 190mm 190mm 290mm 290mm 390mm 390mm Continues on next page Product specification - IRB 920 3HAC075723-001 Revision: A © Copyright 2021 ABB. All rights reserved.
  • Page 34 Illustration for rear outlet cable version: 8xM4 8 6xM4 8 2xM6 12 8xM5 10 xx2000001149 Illustration for undeneath outlet cable version: Continues on next page Product specification - IRB 920 3HAC075723-001 Revision: A © Copyright 2021 ABB. All rights reserved.
  • Page 35 The dimensions for fitting the end effector is shown in the following figure. Note Mounting of other equipment on the IRB 920 may damage the gearboxes. Continues on next page Product specification - IRB 920 3HAC075723-001 Revision: A...
  • Page 36 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 920 3HAC075723-001 Revision: A © Copyright 2021 ABB. All rights reserved.

  • Page 37: Maintenance And Troubleshooting

    The maintenance intervals depend on the use of the robot. The required maintenance activities also depend on the selected options. For detailed information on maintenance procedures, see the maintenance section in Product manual - IRB 920. Product specification - IRB 920 3HAC075723-001 Revision: A © Copyright 2021 ABB. All rights reserved.

  • Page 38: Robot Motion

    Axis 4 rotation center xx2000001137 0.45_0.18 0.45_0.3 0.55_0.18 0.55_0.3 0.65_0.18 0.65_0.3 180mm 300mm 180mm 300mm 180mm 300mm (Axis3) 450mm 550mm 650mm Continues on next page Product specification - IRB 920 3HAC075723-001 Revision: A © Copyright 2021 ABB. All rights reserved.
  • Page 39 (Axis1) ±145° (Axis2) ±400° (Axis4) Working range Axis Working range Note Axis 1 ±150° Axis 2 ±145° Axis 3 180/300° Axis 4 ±400° Default value. Product specification - IRB 920 3HAC075723-001 Revision: A © Copyright 2021 ABB. All rights reserved.

  • Page 40: Performance According To Iso 9283

    AP according to the ISO test above, is the difference between the teached position (position manually modified in the cell) and the average position obtained during program execution. Product specification - IRB 920 3HAC075723-001 Revision: A © Copyright 2021 ABB. All rights reserved.

  • Page 41: Velocity

    2,500 °/s There is a supervision function to prevent overheating in applications with intensive and frequent movements (high duty cycle). Axis resolution 0.001° to 0.005°. Product specification - IRB 920 3HAC075723-001 Revision: A © Copyright 2021 ABB. All rights reserved.

  • Page 42: 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 920 3HAC075723-001 Revision: A © Copyright 2021 ABB. All rights reserved.

  • Page 43: Customer Connections

    R1.C1 and R1.C2 connectors on the base are parts of the CP/CS cable and Ethernet floor cable, respectively. For details about the robot cabling, see "Robot cabling and connection points" in robot product manual. Continues on next page Product specification - IRB 920 3HAC075723-001 Revision: A © Copyright 2021 ABB. All rights reserved.
  • Page 44 Protection covers for C2/SMB connector on the base and C1/C2 connector on the process hub Protection cover for C1 connector on the base Continues on next page Product specification - IRB 920 3HAC075723-001 Revision: A © Copyright 2021 ABB. All rights reserved.
  • Page 45 Continued Bending radius for static floor cables The minimum bending radius is 10 times the cable diameter for static floor cables. xx1600002016 Diameter Diameter x10 Product specification - IRB 920 3HAC075723-001 Revision: A © Copyright 2021 ABB. All rights reserved.
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  • Page 47: Specification Of Variants And Options

    2.1 Introduction to variants and options General The different variants and options for the IRB 920 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 48: Manipulator

    Notice that delivery time for painted spare parts will increase for none standard colors. Protection Option Description 3350-300 Base 30, IP30 Note Base 30 includes IP30, according to standard IEC 60529. Continues on next page Product specification - IRB 920 3HAC075723-001 Revision: A © Copyright 2021 ABB. All rights reserved.
  • Page 49 The kits are designed and used for connectors on upper arm. Robot cabling routing Option Description 3309-1 Under the base 3309-2 From side of base Continues on next page Product specification - IRB 920 3HAC075723-001 Revision: A © Copyright 2021 ABB. All rights reserved.
  • Page 50 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 51 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 920 3HAC075723-001 Revision: A © Copyright 2021 ABB. All rights reserved.

  • Page 52: Floor Cables

    7 m, M12 X-coded to RJ45 3202-3 15 m, M12 X-coded to RJ45 Requirements The option Ethernet cable - Length requires [3303-1] Parallel & Air OR [3303-2] Ethernet, Parallel. Product specification - IRB 920 3HAC075723-001 Revision: A © Copyright 2021 ABB. All rights reserved.

  • Page 53: Accessories

    Basic software and software options for robot and PC For more information, see Application manual - Controller software OmniCore, Product specification - OmniCore C line Product specification - IRB 920 3HAC075723-001 Revision: A © Copyright 2021 ABB. All rights reserved.
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  • Page 55: Index

    12 installation variants, 47 equipment, 33 warranty, 50 loads on foundation, 12 weight, 12 working range, 39 robot, 38 mounting, equipment, 33 Product specification - IRB 920 3HAC075723-001 Revision: A © Copyright 2021 ABB. All rights reserved.
  • Page 58 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 2021 ABB. All rights reserved. Specifications subject to change without notice.

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