ABB IRB 6650 - 125/3.2 - Page 38

Description
34 Product Specification IRB 6600 M2000
Performance according to ISO 9283
At rated maximum load, maximum offset and 1.6 m/s velocity (for IRB 6600-225/2.55,
1.0 m/s velocity) on the inclined ISO test plane, 1 m cube with all six axes in motion.
Data for IRB 6650 not yet available.
IRB 6600 -175/2.55 -225/2.55 -175/2.8
Pose accuracy, AP 0.09 mm 0.11 mm 0.13 mm
Pose repeatability, RP 0.18 mm 0.18 mm 0.20 mm
Path repeatability, RT 1.05 mm 0.36 mm 0.32 mm
Pose stabilization time, Pst 0.03 s 0.55 s* 0.21 s
* Too close limit
Velocity
Maximum axis speeds.
IRB 6600-175/2.55
IRB 6600-225/2.55
IRB 6600-175/2.8
IRB 6650-200/2.75 IRB 6650-125/3.2
Axis no.
1 100°/s 110°/s
2 90°/s 90°/s
3 90°/s 90°/s
4 150°/s 150°/s
5 120°/s 120°/s
6 190°/s 235°/s
1.7 Cooling fan for axis 1-3 motor (option 113-115)
A motor of the robot needs a fan to avoid overheating if the avarage speed over time
exceeds the value given in Table 1. The maximum allowed avarage speed is depending
on the load.
The average speed can be calculated with the following formula:
The maximum allowed average speed for axis 1-3 at the maximum ambient
temperature of 50
o
C according to Table 1. IP 54 for cooling fan.
Table 1
Variant Maximum
average speed
axis 1 (rpm)
Maximum
average speed
axis 2 (rpm)
Maximum
average speed
axis 3 (rpm)
IRB 6600-175/2.55 8.1 - 10.5 2.4 - 2.6 4.7 - 6.1
IRB 6600-225/2.55 7.8 - 10.1 2.1 - 2.3 3.1 - 4.0
IRB 6600-175/2.8 7.8 - 10.1 2.1 - 2.3 3.1 - 4.0
IRB 6650-125/3.2 4.9 - 6.3 2.1 - 2.3 3.1 - 4.0
IRB 6650-200/2.75 7.8 - 10.1 2.1 - 2.3 3.1 - 4.0
Average speed =
Total axis movement, number of degrees, in one cycle
360 x cycle time (minutes) incl. waiting time