1. Manuals
  2. Brands
  3. ABB Manuals
  4. Robotics
  5. IRB 6660
  6. Product specification

ABB IRB 6660 Product Specification

Hide thumbs Also See for IRB 6660:
Table of Contents

Advertisement

Quick Links

Download this manual
ROBOTICS
Product specification
IRB 6660

Advertisement

Table of Contents
loading

Related Manuals for ABB IRB 6660

Summary of Contents for ABB IRB 6660

  • Page 1 ROBOTICS Product specification IRB 6660...
  • Page 2 Trace back information: Workspace 23D version a14 Checked in 2023-12-12 Skribenta version 5.5.019...
  • Page 3 Product specification IRB 6660-100/3.3 IRB 6660-130/3.1 IRB 6660-205/1.9 OmniCore Document ID: 3HAC087212-001 Revision: A © Copyright 2004-2023 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

    Connector kits manipulator ............... 2.4.2.1 Base - Connector kits ..............2.4.2.2 Axis 3 - Connector kits ..............2.4.3 Application floor cables ................Warranty ......................Index Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.
  • Page 6 This page is intentionally left blank...

  • Page 7: Overview Of This Product Specification

    Product manual - OmniCore V400XT 3HAC081697-001 Product specification - OmniCore V line 3HAC074671-001 Product specification - Robot stopping distances according to ISO 10218- 3HAC048645-001 Revisions Revision Description First edition. Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.
  • Page 8 This page is intentionally left blank...

  • Page 9: Description

    1.1 Structure 1.1.1 Introduction Robot family The IRB 6660 is one of ABB Robotics generation of high payload, high performance industrial robots. Based on the famous IRB 6600 robot family, the very high wrist torque, the service friendly modular built up and the very high availability, significant for ABB’s robots, the IRB 6660 robot family goes even further, towards the excellence as a flexible tooling in automatic manufacturing.
  • Page 10 Please contact ABB Robotics Sales organization if in doubt regarding specific application feasibility for the Foundry Plus 2 protected robot.
  • Page 11 1 Description 1.1.1 Introduction Continued Manipulator axes Axis 4 Axis 5 Axis 3 Axis 6 Axis 2 Axis 1 xx1000000633 Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.

  • Page 12: Technical Data

    1 Description 1.1.2 Technical data 1.1.2 Technical data General The IRB 6660 is available in three variants. Robot Handling capacity (kg) Reach (m) IRB 6660-130/3.1 130 kg 3.1 m IRB 6660-100/3.3 100 kg 3.3 m IRB 6660-205/1.9 205 kg 1.9 m...
  • Page 13 1.1.2 Technical data Continued Power factor (cos φ) The power factor is above 0.95 at a steady state power consumption higher than 2.0 kW, when the IRB 6660 is connected to the OmniCore V line. Dimensions IRB 6660-130/3.1 xx1000000634 Description...
  • Page 14 Forklift width 750 mm Max working range Mechanical stop Max working range R710, Radius for motor axis 3 R750, Right fork lift pocket Continues on next page Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.
  • Page 15 Forklift width 750 mm Max working range Max working range R710, Radius for motor axis 3 R750, Right fork lift pocket Continues on next page Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.
  • Page 16 (B) burring, sawing and milling to be accumulated on the robot and secure its movable functionality. Mandatory for IRB 6660-205/1.9. Not available for IRB 6660-130/3.1 Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.

  • Page 17: 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 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.

  • Page 18: Installation

    For IRB 6660-130/3.1 and IRB 6660-100/3.3 can an extra load of 20 kg be mounted on to the upper arm, at a payload of maximum 130 or 100 kg, for IRB 6660-205/1.9 can an extra load of 15 kg be mounted on to the upper arm, at a payload of maximum 205 kg.

  • Page 19: Operating Requirements

    Relative humidity Description Relative humidity Complete robot during transportation and storage Max. 95% at constant temperature Complete robot during operation Max. 95% at constant temperature Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.

  • Page 20: Mounting The Manipulator

    ± 7.9 kN (IRB 6660 - 205/1.9) ± 14.9 kN (IRB 6660 - 205/1.9) Force z 18.5 ± 3.7 kN (IRB 6660 - 100/3.3) 18.5 ± 7.4 kN (IRB 6660 - 100/3.3) 18.8 ± 8.4 kN (IRB 6660 - 130/3.1) 18.8 ±12.8 kN (IRB 6660 - 130/3.1)
  • Page 21 Figures. Regarding AbsAcc performance, the chosen guide holes according to Figure above and last Figure in this chapter are recommended. Continues on next page Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.
  • Page 22 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 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.
  • Page 23 625 (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 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.
  • Page 24 1 Description 1.3.3 Mounting the manipulator Continued xx1000001055 Description Guide sleeve protected from corrosion Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.

  • Page 25: Calibration And References

    Information about valid calibration method is found on the calibration label or in the calibration menu on the FlexPendant. Continues on next page Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.
  • Page 26 Axis Calibration method Axis Calibration is a standard calibration method for calibration of IRB 6660. It is the recommended method in order to achieve proper performance. The following routines are available for the Axis Calibration method: •...

  • Page 27: Fine Calibration With Calibration Pendulum

    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 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.

  • Page 28: 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 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.
  • Page 29 Typical production data regarding calibration are: Robot Positioning accuracy (mm) Average % Within 1 mm IRB 6660-130/3.1 0.5 mm 1.14 mm 98 % IRB 6660-100/3.3 IRB 6660-205/1.9 Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.

  • Page 30: Robot References

    Ø 24 (x1) Ø 24 (x4) 12 (x1) 12H8 Ø 12H8 12 (x4) Ø A - A B - B xx1000000645 Continues on next page Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.
  • Page 31 1.4.4 Robot references Continued Tool flange xx1000000646 xx1000000579 Robot Radius X (mm) for references on tool flange IRB 6660-130/3.1 R=87,5 IRB 6660-100/3.3 R=87,5 IRB 6660-205/1.9 R=87,5 Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.

  • Page 32: Load Diagrams

    15 kgm , and an extra load of 20 kg (IRB 6660-130/3.1 and IRB 6660-100/3.3) and 15 kg (IRB 6660-205/1.9) at the upper arm housing. At different moment of inertia the load diagram will be changed. For robots that are allowed tilted, wall or inverted mounted, the load diagrams as given are valid and thus it is also possible to use RobotLoad within those tilt and axis limits.

  • Page 33: Load Diagrams

    0,40 130 kg 0,30 135 kg 0,20 140 kg 0,10 0,00 0,10 0,20 0,30 0,40 0,50 0,60 0,70 L- (m) xx1000000647 Continues on next page Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.
  • Page 34 Without extra arm load With 20 kg arm load Max load 170 kg 150 kg 0.414 m 0.496 m 0.133 m 0.282 m Continues on next page Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.
  • Page 35 90 kg 0,40 95 kg 0,30 100 kg 0,20 105 kg 0,10 0,10 0,30 0,50 0,20 0,40 0,60 0,70 L- (m) xx1200001284 Continues on next page Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.
  • Page 36 Without extra arm load With 20 kg arm load Max load 132 kg 125 kg 0.448 m 0.484 m 0.103 m 0.119 m Continues on next page Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.
  • Page 37 75 kg 100 kg 125 kg 150 kg 175 kg 205 kg 0.20 0.30 0.40 0.50 0.60 0.70 L- (m) xx1000000648 Continues on next page Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.
  • Page 38 Without extra arm load With 15 kg arm load Max load 220 kg 205 kg 0.442 m 0.442 m 0.582 m 0.574 m Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.

  • Page 39: Maximum Load And Moment Of Inertia For Full And Limited Axis 5 (Center Line Down) Movement

    ) + max (J ) ≤ 275 IRB 6660-100/3.3 Ja5 = Load x ((Z + 0,200) ) + max (J ) ≤ 275 Continues on next page Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.
  • Page 40 Ja6 = Load x L2 + J ≤ 250 kgm xx1000000668 Description Center of gravity. Description Max. moment of inertia around the X, Y and Z axes at center of gravity. Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.

  • Page 41: Wrist Torque

    IRB 6660-130/3.1 1037 Nm 526 Nm 105 kg IRB 6660-100/3.3 918 Nm 472 Nm 75 kg IRB 6660-205/1.9 1177 Nm 620 Nm 200 kg Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.

  • Page 42: Mounting Of Equipment

    Description Center of gravity for permitted extra load ≤ 20 kg for IRB 6660-130/3.1 Center of gravity for permitted extra load ≤ 15 kg for IRB 6660-205/1.9 Center of gravity for permitted extra load ≤ 20 kg for IRB 6660-100/3.3...
  • Page 43 M4 is the total mass (kg) of the equipment including bracket and harness (≤ 500 kg) xx1000000653 Description View from above View from the rear 710 mm Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.

  • Page 44: Mounting Of Hip Load

    When mounting on the frame all the three holes (2x2, Ø16) on one side must be used. Holes for mounting hip load on frame xx1000000659 Continues on next page Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.
  • Page 45 190 mm 490 mm 128 mm xx1000000654 Description R750 Right fork lift pocket Mounting hole, upper arm M12 depth 20 (4x) Continues on next page Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.
  • Page 46 1 Description 1.6.2 Mounting of hip load Continued xx1000000660 Robot Tool Flange xx1000000661 Continues on next page Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.
  • Page 47 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 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.

  • Page 48: Robot Motion

    Robot Type Handling capacity (kg) Reach (m) IRB 6660-130/3.1 1619 1211 (A) 1131 (B) 1505.5 2596 1065 3102 1575 xx1000000662 Continues on next page Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.
  • Page 49 IRB 6660-100/3.3 1211 (A) 1131 (B) 1755,5 2834 1125 3343 xx1200000979 Note Description Max. working range Mechanical stop Max. working range Continues on next page Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.
  • Page 50 1125 1189 -734 3343 2834 2501 Robot Type Handling capacity (kg) Reach (m) IRB 6660-205/1.9 xx1000000663 Note Description Max. working range Continues on next page Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.
  • Page 51 Axis 3 Angle (de- Figure above grees) grees) 1193 1794,5 1903,2 751,5 1162,7 632,2 351,1 793,3 -37,9 1932,4 914,8 1579,6 1833 1043,4 2083,2 997,3 -60,4 107,4 Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.

  • Page 52: Performance According To Iso 9283

    (position manually modified in the cell) and the average position obtained during program execution. The above values are the range of average test results from a number of robots. Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.

  • Page 53: Velocity

    120°/s 240°/s IRB 6660-205/1.9 130°/s 130°/s 130°/s 150°/s 120°/s 190°/s There is a supervision function to prevent overheating in applications with intensive and frequent movements. Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.

  • Page 54: 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 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.

  • Page 55: Customer Connections

    Air is an option. The cables and hoses are integrated in the robot and starts at the robot base and ends on the upper arm housing, see Figure below. Parallel and Ethernet communication (only IRB 6660-130/3.1 and -100/3.3) The table shows the available type of wire/media for parallel and ethernet...
  • Page 56 1 Description 1.8 Customer connections Continued Parallel and field bus communication, Profibus (only IRB 6660-130/3.1 and -100/3.3) The table shows the available type of wire/media with Profibus connection to manipulator Type At terminals At Connection Cable/part Allowed capacity in cabinet point.
  • Page 57 1 Description 1.8 Customer connections Continued Parallel and Ethernet communication (only IRB 6660-205/1.9) The table shows the available type of wire/media for parallel communication and ethernet connection to manipulator Type Connection Connection Cable/part Allowed capacity point at ter- point at base...
  • Page 58 PSI. xx1000000664 Description R2.CAIR M22x1.5, 24° seal IRB 6660-130/3.1 and -100/3.3: R2.CP/CS/CBUS/Servo motor signals IRB 6660-205/1.9: R2.CP/CS Option 3333-2 Connector kit upper arm, offers a kit with customer connectors. This must be assembled by the customer. Product specification - IRB 6660 3HAC087212-001 Revision: A ©...

  • Page 59: 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 Maintenance section in the Product Manual. Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.
  • Page 60 This page is intentionally left blank...

  • Page 61: Variants And Options

    2.1 Introduction to variants and options General The different variants and options for the IRB 6660 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 62: Manipulator

    RAL 7032 209-202 ABB Graphite White std RAL 7035 RAL code should be specified (ABB non-standard colors) The colors can differ depending on supplier and the material on which the paint is applied. Note The delivery time for painted spare parts is longer for non-standard colors.
  • Page 63 Foundry cable guard for manipulator cable harness Foundry cable guard for DressPack Requirements The option Foundry Cable Guard requires option Upper arm cover [3316-1]. Continues on next page Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.
  • Page 64 This can be used together with spe- cial tool to invert a robot. xx2300001243 Resolver connection 7th axis Option Description 3322-1 On base Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.

  • Page 65: Floor Cables

    2 Variants and options 2.3 Floor cables 2.3 Floor cables Manipulator cable length Option Lengths 3200-2 3200-3 15 m 3200-4 22 m 3200-5 30 m Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.

  • Page 66: Application

    2.4.1 Application manipulator 2.4 Application 2.4.1 Application manipulator DressPack base-axis 3 Option Description Additional information 3325-11 MH Parallel 3325-13 MH EtherNet Includes parallel signals. Supports ProfiNet, EtherNetIP Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.

  • Page 67: Connector Kits Manipulator

    2.4.2 Connector kits manipulator General Below is an example of how a connector kit and its parts can look like. xx1300000223 Continues on next page Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.

  • Page 68: Base - Connector Kits

    Connector with: 1 pcs Multiple connector (pin) UTOW 1 pcs Adapter 8 pin 8 pcs Pin For 0.13 - 0.25 mm Continues on next page Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.
  • Page 69 2 Variants and options 2.4.2.1 Base - Connector kits Continued Assembly Accessories to complete connector Assembly instruction Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.

  • Page 70: Axis 3 - Connector Kits

    4 pcs Crimp pin 2 mm AWG 18-14 SS (Servo Signal) 1 pcs Straight connector M23 17p 17 pcs Pin AWG 28-20 Assembly Accessories to complete connector Assembly instruction Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.

  • Page 71: Application Floor Cables

    Description Note 3202-2 3202-3 15 m 3202-5 30 m Servo cable 1 axis - Length Option Description Note 3206-2 3206-3 15 m 3206-5 30 m Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.

  • Page 72: Warranty

    2.5 Warranty 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 73: Index

    CalibWare, 25 stopping distances, 54 category 0 stop, 54 stopping times, 54 category 1 stop, 54 compensation parameters, 28 variants, 61 fine calibration, 27 warranty, 72 Product specification - IRB 6660 3HAC087212-001 Revision: A © Copyright 2004-2023 ABB. All rights reserved.
  • Page 76 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 2004-2023 ABB. All rights reserved. Specifications subject to change without notice.

This manual is also suitable for:

Irb 6660-100/3.3Irb 6660-130/3.1Irb 6660-205/1.9

Table of Contents