（英语）IRC5_HW_related_to_R15.1机器人选型参考

ABBGroupJune14,2020|Slide1,UlfRosn/BUPM/2015-03-11,IRC5HardwareOptionsRelatedtoR15.1,ABBGroupJune14,2020|Slide2,Contentheadlinesreferringtospecform,Chapterstartingonslide1Manipulator操纵器N/A2Basic基础103Floorcables本体和控制柜之间电缆334Controlmodule控制模块455Drivemodule驱动模块776RobotWareHW本体硬件947Process工艺相关988IRC5Stand-alonecontroller105Specificationform”IRC5Controller”,ABBGroupJune14,2020|Slide3,R15.1=Firstpossibledeliverydate2015-05-19,-SpecificationformspublishedinABBLibrary-ChangedateinBOL,Frontconnectorsbehindcover:,ABBGroupJune14,2020|Slide4,Safetychainstatus(option),PowerfulmaincomputerCPU,Preparedforfieldbusslaveadapter:-EthernetI/PTM-PROFIBUSDP-PROFINETIO-Devicenet,Ethernetserviceport,FlexPendantHotplug(option),IndustrialSDcardmassmemory,SpaceforI/Ounits,Modeselector,Mainsswitch,IRC5HardwareOverviewGeneral,Maindriveunit6axis,Additionaldriveunitupto3axis,Frontconnectorsbehindcover,IRC5HardwareOverviewMainComputerDSQC1000Features,COMExpressCPUmoduleMultipleEthernetports10/100MbitOptional4portEthernetswitch1PCIexpressslot2GBSDcardMassstorageOptionalHMSFieldbusmodulesOptionalRS232SerialportOptionalFieldbusPCIexpressexpansionboards,ABBGroupJune14,2020|Slide5,IRC5MainComputerComputerunitDSQC1000Opt.638-1,MultipleportsforEthernetbasedoptionssuchasEthernetIP,Profinetetc.,OneoptionalRS232serialportOpt970-1,OptionalslotforoneHMSFieldBusModuleOpt.970-1,USBconnectorforexternalMassmemory,ABBGroupJune14,2020|Slide6,IRC5MainComputerFieldbusMasteroptionsusingPCIeslot,OnePCIexpressexpansionslot,OptionalPCIexpressexpansionboardsforProfibusmasterOpt.969-1DeviceNetm/sOpt907-1,ABBGroupJune14,2020|Slide7,ABBGroupJune14,2020|Slide8,IRC5blockdiagram,Maincomputer,Safetypanel,Power&UPS,Power(notinSinglecabinet),DriveSafety,Axescomputer,Drives,I/O,SensorsandProcessequipment,LAN,Service,Controlmodule,Drivemodule,SMBBrake,Motor,IRBxxx,Coolingsystem,Diagnostics,Singlecabinet,USB,ABBGroupJune14,2020|Slide9,Drivesystemblockdiagram,Maindriveunit,AC,DCBus,ACvoltageDCbusvoltageDCcurrentTemperatureBleedersupervision,Motorcable(3-ph*4-6),Servomotors*4-6,Singleaxisdriveunit(s),Currentcontrol,IGBTpowermodule,Motorcable(3-ph*1-3),Supervision&control,IGBTpowermodules(6),M,M,M,M,R,SMB,R,SMB,Currentcontrol,AC,Smallrobotswithadditionalmotors,DCBus,Additionalrectifierunit,Additionalservomotors*1-3,ABBGroupJune14,2020|Slide10,2Basic,ABBGroupJune14,2020|Slide11,700-XControllervariants,FrontaccessofconnectionsandpartsFlushsidesforreducedfloorspaceAllmodulesstackableontopofeachother3integratedadditionalaxes(option),72cm,Remotepanel,162cm,97cm,Singlecabinet700-3,SpotWeldprocessmoduleontopofSinglecabinet,BatteryfreeUPS52(option)withoutairconditionerMTTR35A(fusemax.80AduetointernalcablingAWG10,6mm2),ABBGroupJune14,2020|Slide28,708-1Roomtemperature45C,Internalaircirculating,Surroundingair,Computersectionfan,DrivesystemIRB120-44002fansIRB4600-76003fans,Basicselectionallowsroomtemperatureupto45C,Maincomputerfan,Panelboardfan,ABBGroupJune14,2020|Slide29,708-2Roomtemperature52C,Internalaircirculating,Surroundingair,ComputersectionfanHeatexchangeradded,DrivesystemIRB120-44004stdfansIRB2600-76004fanswithincreasedcapacity,Maincomputerfan,Heatexchangerinsidefan(panelboardfanmovedcomparedto45C),Selectwhenroomtemperatureisexpectedtobehigherthan45Cbutlowerthan52C,ABBGroupJune14,2020|Slide30,764-XCoolingairfilter,Option764-1.Moistparticlesarepreventedfromenteringtheairductsandfansbymetalmeshfilter.,Selectwhencoolingaircontainsmoistparticles0.5mm,Selectwhencoolingaircontainsmoistdust,Option764-2.Moistparticlesarepreventedfromenteringtheairductsandfansbypolymericfilter,BasicdeliveryDuctsandfansareexposedtocoolingairandaredesignedtoreducetheneedformaintenanceinmostapplications,ABBGroupJune14,2020|Slide31,741-1Cabinetconnectorprotection,Onemetalcoverpercabinet,PreventsfrontconnectorsfrombeingdamagedMaintainsthecleanIRC5design,890-1890-3RemoteServiceenabled,ABBGroupJune14,2020|Slide32,ForDualcabinettheserviceboxislocatedatthecontrolmodulefloor,ABBServiceEngineer,Servicebox,propertyoflocalABB,connectedtotherobotcontroller.-StandardGSM/GPRSenabled,butPreferablytobeconnectedasInternetServiceBoxifcustomerITdepartmentagreeCommunicationfeefor18monthsfromfactorydeliverydateincluded,Note!-Canbeorderedafterwardsasretrofitkit(3HAC032823-001for890-1)-IncombinationwithMaintenance,ResponseorWarrantyPackage,Note!-ABBRoboticsRoboCareServiceAgreementrequiredforoperation-RequireGSM/GPRSnetworknearbytherobot,else(securitywhitepaperavailableonlibrary),890-3Pre-wiringCablingtoallowforRemoteServiceasretrofit,ABBGroupJune14,2020|Slide33,3Floorcables,ABBGroupJune14,2020|Slide34,210-XManipulatorcables马达电缆，编码器电缆,Measurementcable,Motorcable,Customerrequirement,ABBGroupJune14,2020|Slide35,Theparallelsignalsoptionrequiresselectionintwosteps1.Selectionofconnectionpoint1a-ifconnectiontoscrewterminalsinsideSingleorDualcabinet,selectcabinetharnessoption16-1,(selectionof16-1notneededforIRB360,forIRB1600selectalso17-5)1b-otherwisethecustomerprovidescabletocustomercabinet(notavailableforIRB140and1600ID)2.If1a,selectlengthoffloorcablesparallelsignals,option94-x,Customercabinet(PLC),2,1a,1b,seenotes,Selectwhenthereisneedforparallelcommunicationwitharmtool,Forinternalarmcabling,seeresp.IRB,Note1ForIRB140thefloorcableisalwaysincluded.Acabinetharness1aisincludedforallcontrollervariants.Note2ForIRB360thefloorcable94-xismandatorywhen218-5or218-9SignalsandpowerorVacuumisselected.Acabinetharness1aisthenincludedforallcontrollervariants.,Industrialconnectorsinbothends(IRB140and360onlyincabinetend),Tool,94-XFloorcablesforparallelsignals,IRB140-2400,94-x,16-1,ABBGroupJune14,2020|Slide36,1aparallel,Customercabinet(PLC),Tool,Thearmcommunicationoptionrequiresselectionintwosteps1.Selectionofconnectionpoint1a-ifconnectiontoscrewterminalsinsidecabinet,selectoption16-1,no16-1meansthatcustomerprovidescables(1b)tocustomercabinet2.If1a,selectcommunicationtypeandlengthoffloorcablesParallelsignals,803-1,cablelength94-x,1b,94-x,2,Selectwhenthereisneedforparallelcommunicationwitharmtool,16-1,94-XFloorcablesforparallelsignals,IRB2600,4600,Theparalellfloorcablehasindustrialconnectorsinbothends,ABBGroupJune14,2020|Slide37,1abus,1aparallel,Customercabinet(PLC),Tool,Thefloorcablehasindustrialconnectorsinbothends,Thearmcommunicationoptionrequiresselectionintwosteps1.Selectionofconnectionpoint1a-ifconnectiontoscrewterminalsinsidecabinet,selectoption16-1,no16-1meansthatcustomerprovidescables(1b)tocustomercabinet2.If1a,selectcommunicationtypeandlengthoffloorcablesDeviceNetTM,parallel,air,803-3,cablelength90-x.ThebusisconnectedtotheinternalDeviceNetTMcabling真空系统的通讯电缆,1b,90-x,SelectwhenthereisneedforDeviceNetTMcommunicationwitharmtool,2,16-1,90-XFloorcablesforarmcommunication,IRB2600,4600,ABBGroupJune14,2020|Slide38,1aparallel,Customercabinet(PLC),Tool,Thefloorcablehasindustrialconnectorsinbothends,Thearmcommunicationoptionrequiresselectionintwosteps1.Selectionofconnectionpoint1a-ifconnectiontoscrewterminalsinsidecabinet,selectoption16-1,no16-1meansthatcustomerprovidescables(1b)tocustomercabinet2.If1a,selectcommunicationtypeandlengthoffloorcablesPROFIBUS,parallel,air,803-4,cablelength92-x.ThebusisconnectedtothePROFIBUSmastercard,1b,92-x,SelectwhenthereisneedforPROFIBUScommunicationwitharmtool,2,1abus,16-1,92-XFloorcablesforarmcommunication,IRB2600,4600,ABBGroupJune14,2020|Slide39,1aparallel,Customercabinet(PLC),TheEthernetfloorcablehasM12connectorsinbothends.,M12,Tool,Theparallelfloorcablehasindustrialconnectorsinbothends,Thearmcommunicationoptionrequiresselectionintwosteps1.Selectionofconnectionpoint1a-ifconnectiontoscrewterminalsinsidecabinet,selectoption16-1,no16-1meansthatcustomerprovidescables(1b)tocustomercabinet2.If1a,selectcommunicationtypeandlengthoffloorcablesEthernet,parallel,air,803-2,cablelength859-xand94-x.ThebusisconnectedtoeitherthePROFINETboardortoanyoftheEtherNet/IPTMports,1b,SelectwhenthereisneedforPROFINETorEtherNet/IPTMcommunicationwitharmtool,Theinternalbuscable1aisalsoavailableasseparateoption906-1,94-x,859-x,1abus,2,16-1,859-X&94-XFloorcablesforarmcomm,IRB2600,4600,ABBGroupJune14,2020|Slide40,Thearmcommunicationoptionrequiresselectionintwosteps1.Selectionofconnectionpoint1a-ifconnectiontoscrewterminalsinsidecabinet,selectoption16-1,no16-1meansthatthecustomerprovidescable(1b)tocustomercabinet2.If1a,selectcommunicationtypeandlengthoffloorcablesparallelcommunication,455-1,cablelength94-x,2,1a,1b(notforIRB6660),Customercabinet(PLC),Tool,ForDressPackdetails(455-1),seeIRB66xxorIRB7600,455-xdefinesthetypeofcablesinDressPack798-x,780-x,etc.,Industrialconnectorsinbothends,94-x,Selectwhenthereisneedforparallelcommunicationwitharmtool,16-1,94-x,455-1,DressPackfloorcablesforparallelsignals,IRB66xx,7600,ABBGroupJune14,2020|Slide41,Thearmcommunicationoptionrequiresselectionintwosteps1.Selectionofconnectionpoint1a-ifconnectiontoscrewterminalsinsidecabinet,selectoption16-1,no16-1meansthatthecustomerprovidescable(1b)tocustomercabinet2.If1a,selectcommunicationtypeandlengthoffloorcablesParallelandbus,455-4,cablelength90-x.ThebusisconnectedtotheinternalDeviceNetTMcabling,2,Customercabinet(PLC),SelectwhenthereisneedforDeviceNetTMcommunicationwitharmtool,Tool,ForDressPackdetails(455-4),seeIRB66xxorIRB7600,455-xdefinesthetypeofcablesinDressPack798-x,780-x,etc.,Industrialconnectorsinbothends,90-x,1abus,1b(notforIRB6660),16-1,90-x,455-4,DressPackfloorcablesforarmcommunication,IRB66xx,7600,1a,ABBGroupJune14,2020|Slide42,Thearmcommunicationoptionrequiresselectionintwosteps1.Selectionofconnectionpoint1a-ifconnectiontoscrewterminalsinsidecabinet,selectoption16-1,no16-1meansthatthecustomerprovidescable(1b)tocustomercabinet2.If1a,selectcommunicationtypeandlengthoffloorcablesParallelandbus,455-4,cablelength92-x.ThebusisconnectedtothePROFIBUSmasterboard,2,Customercabinet(PLC),SelectwhenthereisneedforPROFIBUScommunicationwitharmtool,Tool,ForDressPackdetails(455-4),seeIRB66xxorIRB7600,455-xdefinesthetypeofcablesinDressPack798-x,780-x,etc.,Industrialconnectorsinbothends,92-x,1b(notforIRB6660),16-1,92-x,455-4,DressPackfloorcablesforarmcommunicationIRB66xx,7600,1aparallel,92-x,1abus,ABBGroupJune14,2020|Slide43,1aparallel,M12,Theinternalbuscable1aisalsoavailableasseparateoption906-1,94-x,859-x,1abus,Customercabinet(PLC),TheEthernetfloorcablehasM12connectorsinbothends.,Tool,Theparallelfloorcablehasindustrialconnectorsinbothends,Thearmcommunicationoptionrequiresselectionintwosteps1.Selectionofconnectionpoint1a-ifconnectiontoscrewterminalsinsidecabinet,selectoption16-1,no16-1meansthatcustomerprovidescables(1b)tocustomercabinet2.If1a,selectcommunicationtypeandlengthoffloorcablesEthernetandparallel,455-8,cablelength859-xand94-x.ThebusisconnectedtoeitherthePROFINETboardortoanyoftheEtherNet/IPTMports,1b,SelectwhenthereisneedforPROFINETorEtherNet/IPTMcommunicationwitharmtool,2,ForDressPackdetails(455-8),seeIRB66xxorIRB7600,16-1,859-Xand94-XDresspackfloorcablesforarmcommunicationIRB66xx,7600,ABBGroupJune14,2020|Slide44,94-7,-8FloorcablesforSpotPackBasic,SelecttogetherwithSpotPackBasic,ForSpotPackBasicdetails,seeresp.IRB,TerminalsmountedinsideSpotWeldingcabinet,Terminalsinsideconnectionbox,94-77m94-815m,Noindustrialconnectors.Thecablesareroutedviacableglandsinbothends.,Note!WhennoSpotWeldingcabinetisordered,thecabinetterminalsaredeliveredseparatelyforintegratormounting,e.g.onSinglecabinetdoor.,Seenote.,ABBGroupJune14,2020|Slide45,4Controlmodule,ABBGroupJune14,2020|Slide46,701-XFlexPendant,701-110mcable.Mountingkitincluded.701-330mcable.Option701-1plusaseparate30mcable.Thecablereplacementisaneasyoperation(twoscrewsandtwoconnectorsattheFlexPendantback),Mountingkit.,Selectedinmostcases.ItispossibletoletseveralrobotsshareoneFlexPendant,seeoptions702-x,Holder,Holderplateforfreelocation,Cablehook,USBconnector,ABBGroupJune14,2020|Slide47,702-1Connectorplug,Theoptionconsistsofajumperconnectortoclosethesafetychains(E-stop)whentodisconnecttheFlexPendant.AvailablealsowithremoteoperatorspanelDisconnectionstopstherobot.,Connectorplug,MandatorywhenFlexPendantisnotselected.-enablesstoringoftheFlexPendantawayfromdirtyenvironment-enablesoneFlexPendantforseveralrobots,ABBGroupJune14,2020|Slide48,702-2Hotplug,TheFlexPendantcanbedisconnectedandreconnectedwithoutaffectingtheprogramexecution-enablesstoringoftheFlexPendantawayfromdirtyenvironmentenablesoneFlexPendantforseveralrobots-AlsoavailableforPMCwithoptionXXX-X,Howtouse:Pressthewhitebutton(warningflashstarts)DisconnecttheFlexPendantAttachtheconnectorplugReleasethewhitebutton(warningflashstops).,Connectorplug,Whitebutton,TheoptionconsistsofcontactswhichtemporarilycanoverridetheE-stop.Forpermanentjumperingaconnectorplug702-1isincludedAvailablealsoonremoteoperatorspanel(exceptCompact).-AlsoavailableforPMCwithoptionXXX-XinR12.2,ABBGroupJune14,2020|Slide49,976-1T10Joggingdevice,Twoaxisjoystick,128x128pixelDisplay,Enablingcontroldevice,Emergencystopbutton,HandhelddeviceforJoggingrobotbypointingandmovingthedeviceCreatingandmodifyingrobotpathStarting&stoppingrobotprogram,DevicefeaturesAdvancedacceleration&gyroscopesensorsDualchannel3positionenablingcontroldeviceProtectionclassIP65,ABBGroupJune14,2020|Slide50,983-1Jokabenablingdevice,HandheldsafetydeviceusedforEnablingrobotmovementsfortestingProvidesfullcontrolofrobotstop,Emergencystopbutton,3posenablingbutton,970-1RS232SerialChannel,OneoptionalRS232serialportcombinedwithHMSFieldbusslotOpt970-1,ABBGroupJune14,2020|Slide51,ABBGroupJune14,2020|Slide52,709-1DeviceNetTMm/ssinglechannel,ExternalDevicenetTMI/Ounits,ABB816-1,817-2,818-2or3rdparty,IRC5,MainCPU,DeviceNetTMboard,Connectoronfront,730-1,Singlechannel,option709-1onePCI-e1-connectorboardInternalcablingincludedCanhandlebothmasterandslavefunctionalityinthesamebusCannotbecombinedwithOpt.969-1,InternallymountedDevicenetTMI/Ounits716-1,717-2,718-2,Connectorsoninternalcabling,969-1ProfibusDPMaster,OptionalPCIexpressexpansionboardsforProfibusmasterOpt.969-1CannotbecombinedwithOpt.709-1,ABBGroupJune14,2020|Slide53,ABBGroupJune14,2020|Slide54,888-2(m/s)or888-3(slave)PROFINETIOSW,IRC5,MainCPU,Customermaster,Customerslaves,CustomerNetwork,WAN,Alt.connections,M12Ethernetconnectoronfront,see906-1,RJ45LANconnectoronfront,see707-1,Theoption888-2or-3isasoftwaresolution.IfthebusisconnecteddirectlytotheexistingLANportnoadditionalhardwareisrequired.,ToconfigurethePROFINETIOSWmasterpart,useRW5.14basictoolonRWDVDorbuyPROFINET-IOConfiguratorProfessionalfromKW-Software.,-2masterfore.garmmountedunits,-3slavefore.gPLCcontrolofrobot,LAN,ABBGroupJune14,2020|Slide55,841-1,905-1,(906-1,707-1)Ethernet/IPTMm/s,IRC5,MainCPU,Customermaster,Customerslaves,Customerrequirement,CustomerNetwork,WAN,Alt.connections,M12Ethernetconnectoronfront,see906-1,RJ45LANconnectoronfront,see707-1,Theoption841-1isasoftwaresolution.IfthebusisconnecteddirectlytotheexistingLANportnoadditionalhardwareisrequired.,LAN,ABBGroupApril15,2013|ProductchangesR13.1,941-1EthernetswitchOptional4portEthernetswitchoncabinetdoor,Optional4portethernetswitchOpt.941-1,Canbeusedfordistributionand/orextensionofethernetfieldbusoptionssuchasProfinetandEthernetIP.,ABBGroupJune14,2020|Slide57,730-1DeviceNetTMonfront,ExternalDeviceNetTMunits,IRC5,MainCPU,InternalI/Ounits,SelectwhentherobotneedsquickdisconnectandreconnecttothefactoryDeviceNetTMfieldbus,5-polecircularfemaleconnectoronfront,option730-1.,RecommendedcustomermaleconnectorisBradHarrisontype1A5006-34orABBpartnumber3HAC7811-1(notsupplied).,DeviceNetTM,ABBGroupJune14,2020|Slide58,707-1EthernetRJ45onconnectorplate,WAN(WideAreaNetwork)portX6onmainCPUasstandard,RecommendedcableconnectorHarting#0945115110000,Selectwhentherobotneedquickdisconnectandreconnecttothefactorynetwork,ThecabinetcablecanbemovedtoanotherEthernetport,e.g.PROFINETm/sorEthernetmultiport,ABBGroupJune14,2020|Slide59,906-1EthernetM12onconnectorplate,Selectwhentherobotneedquickdisconnectandreconnecttothefactorynetwork,ThecabinetcableisatdeliveryconnectedtoeitherLANX4orX5,EthernetLANX4orX5,840-xIRC5Fieldbusadapterinterface(slave)HMSslavemodules,OptionalfieldbusslavemodulesOpt840-X,ABBGroupJune14,2020|Slide60,-Ethernet/IPTM840-1-PROFIBUSDP840-2-PROFINETIO840-3-DevicenetTM840-4,RequiresOpt.970-1RS232SerialChannel/HMSconnector,ABBGroupJune14,2020|Slide61,DeviceNetTMI/Ounits/slaves/nodes,Forexternalmounting,select8xxinsteadof7xx,Customerrequirement,VerifiedforRWoption607-2AnalogSync,Note1OneDigitalI/OalwaysincludedinIRC5Compact,ABBGroupJune14,2020|Slide62,ThecabinetI/Ospaceisdividedin“slots”.Singlecabinet:4slotsdoorTocalculatepossiblecombinations,usetablebelow.,4DigitalI/O(716-1)ontheSinglecabinetdoor,SpaceneedforI/Ooptions,ABBGroupJune14,2020|Slide63,723-1DeviceNetTMgatewayCCLink(slave),IRC5,MainCPU,Internallymountedgatewayunits:CC-Link723-1,Connectoronfront,CustomermasterPLC,Externalgatewayunits:CC-Link899-1,SelectedwhentherobotistobecontrolledfromacustomerPLCofCC-Linktype,ThegatewayisconnectedtothecontrolsystemviaDeviceNetTMfieldbus.,DeviceNetTM,ABBGroupJune14,2020|Slide64,726-1DeviceNetTMencoderinterface,Forexternalmounting,select826-1insteadof726-1,Thisoptionisrequiredfor:ConveyorTracking(RWoption606-1)whichmakestherobotfollowaworkobjectonamovingconveyor.Uptofourconveyorscanbetracked.SensorSynchronization(RWoption607-1)adjuststherobotspeedtoanencoderequippedmovingdevice(forexampleapress).PickMasterconveyortrackingapplications.Uptosixconveyorscanbetracked.,ABBGroupJune14,2020|Slide65,727-X24VPowersupplySingleCabinetandCompact,Customer24Visavailablewithoutoptions:Allrobots:8A,shortcircuitproofForlargerobotandadditionalmotors:Reducewith1Apermotor.,Transformer,4A,4A,24VDC,Computer,System,Cooling,24VI/O,230VAC,727-34A,727-18A,Selectaddition