1. Manuals
  2. Brands
  3. ABB Manuals
  4. Robotics
  5. IRB 1090
  6. Product specification

ABB IRB 1090 Product Specification

Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
ROBOTICS
Product specification
IRB 1090

Advertisement

Table of Contents
loading

Related Manuals for ABB IRB 1090

Summary of Contents for ABB IRB 1090

  • Page 1 ROBOTICS Product specification IRB 1090...
  • Page 2 Trace back information: Workspace 23D version a13 Checked in 2023-12-07 Skribenta version 5.5.019...
  • Page 3 Product specification IRB 1090-3.5/0.58 OmniCore Document ID: 3HAC088057-001 Revision: B © Copyright 2023 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

    IRB 1090-3/0.58 ..................1.10 Customer connections ..................Specification of variants and options Introduction to variants and options ..............Manipulator ...................... Floor cables ..................... Accessories Index Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.
  • Page 6 This page is intentionally left blank...

  • Page 7: Overview Of This Specification

    Published in release 23D. The following updates are done in this revision: • A label indicating that the robot is used only in educational applic- ations is added. Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.
  • Page 8 This page is intentionally left blank...

  • Page 9: Description

    1 Description 1.1 Structure Introduction The IRB 1090 is a 6-axis robot with a payload of 3.5 kg, designed specifically for use in educational applications for training purpose. Note The IRB 1090 can only be used in educational applications, with a label attached on the robot base as a reminder, and the warranty is also limited to using in such applications.

  • Page 10: Robot Variants

    1 Description 1.1.1 Robot variants 1.1.1 Robot variants General The IRB 1090 is available in one variant. Robot variant Handling capacity (kg) Reach (m) IRB 1090-3.5/0.58 3.5 kg 0.58 m Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.

  • Page 11: Technical Data

    See the product manual for details. Loads on foundation, robot The illustration shows the directions of the robots stress forces. Continues on next page Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.
  • Page 12 ±230 N ±600 N Force z +210±380 N +210±570 N Torque xy ±120 Nm ±310 Nm Torque z ±40 Nm ±110 Nm Continues on next page Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.
  • Page 13 Parameter Value Minimum ambient temperature -25°C (-13°F) Maximum ambient temperature +55°C (+131°F) Maximum ambient temperature (less than 24 hrs) +70°C (+158°F) Continues on next page Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.
  • Page 14 Type of movement IRB 1090-3.5/0.58 ISO Cube Max. velocity (W) Robot in calibration position IRB 1090-3.5/0.58 Brakes engaged (W) Brakes disengaged (W) Continues on next page Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.
  • Page 15 1 Description 1.1.2 Technical data Continued Main dimensions of IRB 1090-3.5/0.58 K View xx2300001048 Description Turning radius: R85 Turning radius: R109 Turning radius: R61 Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.

  • Page 16: Standards

    Industrial robots and robot Systems - General safety require- ments EN ISO 10218-1 Robots and robotic devices — Safety requirements for indus- trial robots — Part 1: Robots Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.

  • Page 17: Installation

    1.3.1 Introduction to installation General IRB 1090 is available in one variant and can be floor mounted and suspended mounted. Depending on the robot variant, an end effector with a max. weight of 3.5 kg including payload, can be mounted on the tool flange (axis 6). See...

  • Page 18: Assembling The Manipulator

    This illustration shows the hole configuration used when securing the robot. 4-M12 0.30 67.5 + 0.012 13.5 67.5 6 H7 6 H7 + 0.012 6 H7 55.4 Installation base xx2300001052 Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.

  • Page 19: Calibration And References

    WristOpt, see Technical reference manual - RAPID Instructions, Functions and Data types. This instruction is only available for OmniCore robots. Continues on next page Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.
  • Page 20 Brief description of calibration methods Axis Calibration method Axis Calibration is a standard calibration method for calibration of IRB 1090. It is the recommended method in order to achieve proper performance. The following routines are available for the Axis Calibration method: •...

  • Page 21: Synchronization Marks And Synchronization Position For Axes

    Before installing a tool on the tool flange, make sure a visible mark has been made to the tool at the corresponding position. Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.

  • Page 22: Fine Calibration

    1 Description 1.4.3 Fine calibration 1.4.3 Fine calibration General The fine calibration is done with the Axis calibration method. xx1800003320 xx1800003514 Continues on next page Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.
  • Page 23 1 Description 1.4.3 Fine calibration Continued xx1800003515 Axes Description Description Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.

  • Page 24: Absolute Accuracy Calibration

    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 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.
  • Page 25 WARNING If any part is missing or damaged, the tool must be replaced immediately. Continues on next page Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.
  • Page 26 If including the tool flange calibration tool in a local periodic check system, the following measures should be checked. • Outer diameter within Ø5g5 mm. • Straightness within 0.005 mm. Continues on next page Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.
  • Page 27 1 Description 1.4.4 Absolute Accuracy calibration Continued xx1600001142 Outer diameter Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.

  • Page 28: Synchronization Marks And Axis Movement Directions

    Before installing a tool on the tool flange, make sure a visible mark has been made to the tool at the corresponding position. Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.

  • Page 29: Calibration Movement Directions For All Axes

    Positive directions are shown in the graphic below. Calibration service routines will handle the calibration movements automatically and these might be different from the positive directions shown below. Manual movement directions xx1800002456 Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.

  • Page 30: 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 1090 3HAC088057-001 Revision: B ©...

  • Page 31: Diagrams

    1.5 kg 2 kg 2.5 kg 0.10 3 kg 3.5 kg 0.00 0.00 0.10 0.20 0.30 L-distance (m) xx2300000827 Figure 1.1: Continues on next page Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.
  • Page 32 1 Description 1.5.2 Diagrams Continued Diagrams of IRB 1090-3.5/0.58 "Vertical Wrist" (±10 L-distance (m) 0.00 0.05 0.10 0.15 0.20 0.25 0.30 0.00 3.7 kg 0.05 3.5 kg 3 kg 0.10 2 kg 0.15 1 kg 0.20 0.25 0.30 0.35 0.40...

  • Page 33: Maximum Load And Moment Of Inertia For Full And Limited Axis 5 (Center Line Down) Movement

    Description Center of gravity Description Max. moment of inertia around the X, Y and Z axes at center of gravity. Continues on next page Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.
  • Page 34 = Load x L ≤ 0.085 kgm xx1400002029 Description Center of gravity Description Max. moment of inertia around the X, Y and Z axes at center of gravity. Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.

  • Page 35: Wrist Torque

    Max wrist torque Max wrist torque Max torque valid at axis 4 and 5 axis 6 load IRB 1090-3.5/0.58 5.0 Nm 2.9 Nm 4 kg Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 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 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.

  • Page 37: Fitting Equipment To The Robot

    IRB 1090-3.5/0.58 Holes for fitting extra equipment 2-M3 6(two sides) 2-M4 8(two sides) 2-M4 2-M5 10(two sides) 2-M3 6(two sides) 2-M4 xx2300001051 Continues on next page Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.
  • Page 38 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 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.

  • Page 39: Maintenance And Troubleshooting

    Grease is used for the gearboxes. • The cabling is routed for longevity, and in the unlikely event of a failure, its modular design makes it easy to change. Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.

  • Page 40: Robot Motion

    -28.3° -205° pos6 -112.4 473.5 -115° 55° pos7 -580 -90° -88° pos8 -525.8 81.8 -115° -88° pos9 237.3 517.1 113° -205° Continues on next page Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.
  • Page 41 Default value. ±242 Maximum revolution value. The default working range for axis 6 can be exten- ded by changing parameter values in the soft- ware. Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.

  • Page 42: Axes With Restricted Working Range

    Part of the casting or fixed on the casting and can not /should not be removed. Can be installed in one or more than one position, to ensure a reduced working range, or be removed to allow extended working range. Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.

  • Page 43: Mechanically Restricting The Working Range

    1.8.2.2 Mechanically restricting the working range 1.8.2.2 Mechanically restricting the working range Location of the mechanical stops Only axis 1 has a replaceable mechanical stop. xx1800002452 Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.

  • Page 44: 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 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.

  • Page 45: Velocity

    250 °/s 320 °/s 320 °/s 420 °/s There is a supervision function to prevent overheating in applications with intensive and frequent movements (high duty cycle). Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.

  • Page 46: Robot Stopping Distances And Times

    The tool data that is used is presented for the respective robot variant. The used loads represent the rated load. No arm load is used. See the Load diagrams on page Continues on next page Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.
  • Page 47 The extension zone outer limits are defined by the TCP0 position for the stated angles. Illustration Axis 1 xx2300000860 Axis 2 xx2300000861 Continues on next page Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.
  • Page 48 There is a short delay in the stop, which means that if the axis is accelerating when the stop is initiated (C), it will continue to accelerate during this delay time. This Continues on next page Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.
  • Page 49 (A) gives shorter stopping distance than a smaller load (B). xx2300001041 The tcp speed is the actual speed when the stop is initiated, which is not necessarily the programmed speed. Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.

  • Page 50: Measuring Stopping Distance And Time

    Measuring with TuneMaster The software TuneMaster can be used to measure stopping distances and times for ABB robots. The TuneMaster software contains documentation on how to use 1 Download TuneMaster from www.abb.com/robotics, section RobotStudio - Downloads - RobotWare Tools and Utilities.
  • Page 51 10 Repeat for all installed emergency stop buttons until the identified hazards due to stopping distance and time for axes have been verified. Example from TuneMaster xx1600000386 Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.

  • Page 52: Irb 1090-3/0.58

    -6° Axis 2 Zone border Axis 2 Axis 3 z0-z1 48° 30° z1-z2 90° -30° Axis 3 Only one zone exists. Continues on next page Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.
  • Page 53 1 Description 1.9.3 IRB 1090-3/0.58 Continued Category 1, Axis 1, Extension zone 0, stopping distance and stopping time Continues on next page Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.
  • Page 54 1 Description 1.9.3 IRB 1090-3/0.58 Continued Category 1, Axis 1, Extension zone 1, stopping distance and stopping time Continues on next page Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.
  • Page 55 1 Description 1.9.3 IRB 1090-3/0.58 Continued Category 1, Axis 1, Extension zone 2, stopping distance and stopping time Continues on next page Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.
  • Page 56 1 Description 1.9.3 IRB 1090-3/0.58 Continued Category 1, Axis 2, Extension zone 0, stopping distance and stopping time Continues on next page Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.
  • Page 57 1 Description 1.9.3 IRB 1090-3/0.58 Continued Category 1, Axis 2, Extension zone 1, stopping distance and stopping time Continues on next page Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.
  • Page 58 1 Description 1.9.3 IRB 1090-3/0.58 Continued Category 1, Axis 2, Extension zone 2, stopping distance and stopping time Continues on next page Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.
  • Page 59 1 Description 1.9.3 IRB 1090-3/0.58 Continued Category 1, Axis 3, Extension zone 0, stopping distance and stopping time Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.

  • Page 60: 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 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.
  • Page 61 Always remember to refit the protection covers after removing them. xx1900000132 CP/CS or Ethernet connector protection covers SMB connector protection cover Air hose connector protection covers Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.
  • Page 62 This page is intentionally left blank...

  • Page 63: Specification Of Variants And Options

    2.1 Introduction to variants and options General The different variants and options for the IRB 1090 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 64: Manipulator

    The kits are designed and used for connectors on upper arm. Continues on next page Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.
  • Page 65 Continued 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 66: Floor Cables

    15 m xx2100001122 Manipulator cable - Angled Option Lengths 3209-1 Angled type connector, requires option Manipulator cable - Length [3200-X] xx2100001123 xx2100001124 Continues on next page Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.
  • Page 67 The minimum bending radius is 10 times the cable diameter for static floor cables. xx1600002016 Diameter Diameter x10 Connection of Ethernet Required 3303-2 Ethernet, Parallel, Air and occupies 1 Ethernet port. Option Lengths 3202-2 Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.
  • Page 68 This page is intentionally left blank...

  • Page 69: Accessories

    There is a range of tools and equipment available. Basic software and software options for robot and PC For more information, see Product specification - OmniCore E line. Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.
  • Page 70 This page is intentionally left blank...

  • Page 71: Index

    63 loads on foundation, 11 warranty, 65 mechanical stop wcp, 47 axis 1, 43 weight, 11 mechanical stop location, 43 working range, 41 robot, 40 Product specification - IRB 1090 3HAC088057-001 Revision: B © Copyright 2023 ABB. All rights reserved.
  • Page 74 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 2023 ABB. All rights reserved. Specifications subject to change without notice.

Table of Contents