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ABB IRB 1200 Product Specification

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IRB 1200

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Summary of Contents for ABB IRB 1200

  • Page 1 ROBOTICS Product specification IRB 1200...
  • Page 2 Trace back information: Workspace 21A version a11 Checked in 2021-03-19 Skribenta version 5.4.005...
  • Page 3 Product specification IRB 1200-5/0.9 IRB 1200-5/0.9 type A IRB 1200-5/0.9 type B IRB 1200-7/0.7 IRB 1200-7/0.7 type A IRB 1200-7/0.7 type B Document ID: 3HAC046982-001 Revision: O © 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

    1.8.3 Velocity ....................1.8.4 Stopping distance / time ................Customer connections ..................Specification of variants and options Manipulator ...................... Accessories Introduction to accessories ................. Index Product specification - IRB 1200 3HAC046982-001 Revision: O © Copyright 2021 ABB. All rights reserved.
  • Page 6 This page is intentionally left blank...

  • Page 7: Overview Of This Specification

    Minor corrections • Working range of axis 6 corrected from ±360° to ±400°, see Working range on page • Minor corrections/update Continues on next page Product specification - IRB 1200 3HAC046982-001 Revision: O © Copyright 2021 ABB. All rights reserved.
  • Page 8 Warranty section updated. Published in release 21A. The following updates are done in this revision: • The color code for Graphite White, option 209-202 updated. Product specification - IRB 1200 3HAC046982-001 Revision: O © Copyright 2021 ABB. All rights reserved.

  • Page 9: Description

    As a result of this, the castings differ between IRB 1200 and IRB 1200 Type A. Note IRB 1200 Type B is designed based on IRB 1200 Type A so that Type B has the bushings for installation of calibration tools too.
  • Page 10 Battery pack • SMB unit (replacing EIB unit) IRB 1200 Type B is designed based on IRB 1200 Type A so that Type B has the bushings for installation of calibration tools too. How to know which type the robot is? The type label on the base of the robot tells if the robot supports SafeMove 2.
  • Page 11 Please contact ABB Robotics Sales organization if in doubt regarding specific application feasibility for the Foundry Plus 2 protected robot.
  • Page 12 - and advanced functions such as multitasking, sensor control etc. For a complete description on optional software, see Product specification - Controller software IRC5. Manipulator axes xx1300000365 Continues on next page Product specification - IRB 1200 3HAC046982-001 Revision: O © Copyright 2021 ABB. All rights reserved.
  • Page 13 1 Description 1.1.1 Introduction to structure Continued Posi- Description Posi- Description tion tion Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Product specification - IRB 1200 3HAC046982-001 Revision: O © Copyright 2021 ABB. All rights reserved.

  • Page 14: The Robot

    1 Description 1.1.2 The robot 1.1.2 The robot General The IRB 1200 is available in two versions and both can be mounted on floor, inverted or on wall in any angle (around X-axis or Y-axis). Robot type Handling capacity (kg)
  • Page 15 Minimum turning radius axis 3 R=139 mm Minimum turning radius axis 1 R=138 mm Valid for option Robot cabling routing, 966-1 From below Continues on next page Product specification - IRB 1200 3HAC046982-001 Revision: O © Copyright 2021 ABB. All rights reserved.
  • Page 16 Minimum turning radius axis 4 R=79 mm Minimum turning radius axis 3 R=111 mm Minimum turning radius axis 1 R=138 mm Valid for option Robot cabling routing, 966-1 From below Product specification - IRB 1200 3HAC046982-001 Revision: O © Copyright 2021 ABB. All rights reserved.

  • Page 17: Standards

    Industrial robots and robot Systems - General safety require- ments (option 429-1) ANSI/ESD S20.20:2007 Protection of Electrical and Electronic Parts, Assemblies and Equipment (Excluding Electrically Initiated Explosive Devices) Continues on next page Product specification - IRB 1200 3HAC046982-001 Revision: O © Copyright 2021 ABB. All rights reserved.
  • Page 18 Protection of electronic devices from electrostatic phenomena - General requirements Only valid for arc welding robots. Replaces IEC 61000-6-4 for arc welding robots. Only robots with protection Clean Room. Product specification - IRB 1200 3HAC046982-001 Revision: O © Copyright 2021 ABB. All rights reserved.

  • Page 19: Installation

    1.3.1 Introduction to installation General IRB 1200 is adapted for normal industrial environment. Depending on robot variant, an end effector with max. weight of 5 or 7 kg, including payload, can be mounted on the robot’s mounting flange (axis 6). Other equipment, weighing a maximum of 0.3 kg, can be mounted on the upper arm.

  • Page 20: Operating Requirements

    Otherwise there is a risk that the robot stops or run with lower performance due to temperature dependent oil and grease viscosity. For robots with food grade lubrication, if environment temperature > 35ºC, contact ABB for further information.

  • Page 21: Mounting The Manipulator

    ±1620 N Force z +550 ±980 N +550 ±1610 N Torque xy ±570 Nm ±1550 Nm Torque z ±280 Nm ±580 Nm Continues on next page Product specification - IRB 1200 3HAC046982-001 Revision: O © Copyright 2021 ABB. All rights reserved.
  • Page 22 ) can occur in any direction in the XY-plane of the base coordinate system.The same applies to the transverse force (F Continues on next page Product specification - IRB 1200 3HAC046982-001 Revision: O © Copyright 2021 ABB. All rights reserved.
  • Page 23 13 x 20 x 2, steel hardness class 300HV Guide pins 2 pcs, D6x20, ISO 2338 - 6m6x20 - A1 Tightening torque 55 Nm ± 5 Nm Level surface requirements xx0900000643 Product specification - IRB 1200 3HAC046982-001 Revision: O © Copyright 2021 ABB. All rights reserved.

  • Page 24: Load Diagram

    Control of load case by "RobotLoad" To easily control a specific load case, use the calculation program ABB RobotLoad. Contact your local ABB organization for more information. The result from RobotLoad is only valid within the maximum loads and tilt angles.

  • Page 25: Load Diagram

    2 kg 3 kg 0,20 4 kg 5 kg 6 kg 7 kg 0,00 0,10 0,20 0,30 0,40 L (m) 0,00 xx1300000371 Continues on next page Product specification - IRB 1200 3HAC046982-001 Revision: O © Copyright 2021 ABB. All rights reserved.
  • Page 26 1 Description 1.4.2 Load diagram Continued IRB 1200 - 7/0.7 "Vertical wrist" (± 10 L (m) 7,5 kg 6 kg 4 kg 2 kg 1 kg xx1300000372 For wrist down (0 deviation from the vertical line). Description Max load 7.5 kg 0.159 m...
  • Page 27 0,40 1 kg 0,30 2 kg 0,20 3 kg 4 kg 5 kg 0,00 0,10 0,20 0,30 L (m) 0,00 xx1300000369 Continues on next page Product specification - IRB 1200 3HAC046982-001 Revision: O © Copyright 2021 ABB. All rights reserved.
  • Page 28 1 Description 1.4.2 Load diagram Continued IRB 1200 - 5/0.9 "Vertical wrist" (± 10 L (m) 5,5 kg 5 kg 3,5 kg 2 kg 1 kg xx1300000370 For wrist down (0 deviation from the vertical line). Description Max load 5.5 kg 0.199 m...

  • Page 29: Maximum Load And Moment Of Inertia For Axis 5

    ) ≤ 0.45 kgm IRB 1200-7/0.7 = Mass x L ≤ 0.2 kgm IRB 1200-5/0.9 = Mass x L ≤ 0.2 kgm Continues on next page Product specification - IRB 1200 3HAC046982-001 Revision: O © Copyright 2021 ABB. All rights reserved.
  • Page 30 (position of center of gravity) within the load diagram, since those also are limited by main axes torques as well as dynamic loads. Also arm loads will influence the permitted load diagram, contact your local ABB organization. Robot variant...

  • Page 31: 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 1200 3HAC046982-001 Revision: O © Copyright 2021 ABB. All rights reserved.

  • Page 32: Fitting Of Equipment

    (See Holes for fitting extra equipment on page 33). IRB 1200-7/0.7 IRB 1200-5/0.9 xx1300000384 Load area (A) Max load IRB 1200-5/0.9 0.3 kg IRB 1200-7/0.7 Product specification - IRB 1200 3HAC046982-001 Revision: O © Copyright 2021 ABB. All rights reserved.

  • Page 33: Holes For Fitting Extra Equipment

    2 x M4 8 2 x M4 2xM5 xx1300000381 Description IRB 1200-5/0.9 = 451 mm, IRB 1200-7/0.7 = 351 mm IRB 1200-5/0.9 = 216 mm, IRB 1200-7/0.7 = 116 mm Continues on next page Product specification - IRB 1200 3HAC046982-001 Revision: O...
  • Page 34 2 x M4 8 xx1700002331 Lower arm 2 x M5 30 ±0,15 122,5 122,5 122,5 122,5 IRB 1200-7/0.7 IRB 1200-5/0.9 xx1300000382 Continues on next page Product specification - IRB 1200 3HAC046982-001 Revision: O © Copyright 2021 ABB. All rights reserved.
  • Page 35 Frame 30 ±0.15 2xM10 xx1400000590 Description Holes on both sides Robot tool flange 0.012 5 H7 0.04 4xM5 0.25 31.5 xx1300000383 Continues on next page Product specification - IRB 1200 3HAC046982-001 Revision: O © Copyright 2021 ABB. All rights reserved.
  • Page 36 1 Description 1.5.2 Holes for fitting extra equipment Continued Robot tool flange for Foundry Plus robots 0.012 5 H7 0.04 4xM5 0.25 31.5 xx1600001322 Product specification - IRB 1200 3HAC046982-001 Revision: O © Copyright 2021 ABB. All rights reserved.

  • Page 37: Calibration

    To regain 100% Absolute accuracy perform- ance, the robot must be recalibrated for abso- lute accuracy after repair or maintenance that affects the mechanical structure. xx0400001197 Continues on next page Product specification - IRB 1200 3HAC046982-001 Revision: O © Copyright 2021 ABB. All rights reserved.
  • Page 38 Brief description of calibration methods Axis Calibration method Axis Calibration is a standard calibration method for calibration of IRB 1200 and is the most accurate method for the standard calibration. It is the recommended method in order to achieve proper performance.
  • Page 39 For most cases after replacements that do not include taking apart the robot structure, standard calibration is sufficient. Product specification - IRB 1200 3HAC046982-001 Revision: O © Copyright 2021 ABB. All rights reserved.

  • Page 40: Fine Calibration

    1.6.2 Fine calibration 1.6.2 Fine calibration General Fine calibration is made by moving the axes to a fixed position on the frame. For detailed information on calibration of the robot see Product manual - IRB 1200. xx1300000365 Posi- Description Posi-...

  • Page 41: Absolute Accuracy Calibration

    • a birth certificate representing the Absolute Accuracy measurement protocol for the calibration and verification sequence. Continues on next page Product specification - IRB 1200 3HAC046982-001 Revision: O © Copyright 2021 ABB. All rights reserved.
  • Page 42 There are no RAPID instructions included in this option. Production data Typical production data regarding calibration are: Robot Positioning accuracy (mm) Average % Within 1 mm IRB1200-7/0.7 0.13 0.30 IRB1200-5/0.9 0.14 0.45 Product specification - IRB 1200 3HAC046982-001 Revision: O © Copyright 2021 ABB. All rights reserved.

  • Page 43: 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 - IRB 1200. Product specification - IRB 1200 3HAC046982-001 Revision: O ©...

  • Page 44: Robot Motion

    Option 610-1 Independent axis can be used for resetting the revolution counter after the axis has been rotated (no need for "rewinding" the axis). Continues on next page Product specification - IRB 1200 3HAC046982-001 Revision: O © Copyright 2021 ABB. All rights reserved.
  • Page 45 1 Description 1.8.1 Working range and type of motion Continued Working range IRB 1200-7/0.7 Working range, positions at wrist center and angle of axes 2 and 3 The illustration shows the unrestricted working range of the robot. Pos 1 Pos 0...
  • Page 46 1 Description 1.8.1 Working range and type of motion Continued IRB 1200-5/0.9 Working range, positions at wrist center and angle of axes 2 and 3 The illustration shows the unrestricted working range of the robot. Pos 1 Pos 0 Pos 9...

  • Page 47: Performance According To Iso 9283

    Linear path repeatability, RT (mm) 0.07 0.02 Linear path accuracy, AT (mm) 0.53 0.77 Pose stabilization time, Pst (s) within 0.1 mm of the 0.113 0.057 position Product specification - IRB 1200 3HAC046982-001 Revision: O © Copyright 2021 ABB. All rights reserved.

  • Page 48: Velocity

    The parameter Mains tolerance min can also be modified in RobotStudio. Axis num- 1,200-5/0.9 1,200-7/0.7 288°/s 288°/s 240°/s 240°/s 297°/s 297°/s 376°/s 378°/s 399°/s 405°/s 600°/s 600°/s Resolution Approximately 0.01 on each axis. Product specification - IRB 1200 3HAC046982-001 Revision: O © Copyright 2021 ABB. All rights reserved.

  • Page 49: Stopping Distance / Time

    0.43 0.41 Axis 2 0.40 0.34 Axis 3 0.40 0.36 Main power Axis 1 0.25 0.25 failure Axis 2 0.22 0.31 Axis 3 0.31 0.21 Product specification - IRB 1200 3HAC046982-001 Revision: O © Copyright 2021 ABB. All rights reserved.

  • Page 50: Customer Connections

    There is also connections for Ethernet, one connector R4.Ethernet at the tubular housing and the corresponding connector R1.Ethernet located at the base. Continues on next page Product specification - IRB 1200 3HAC046982-001 Revision: O © Copyright 2021 ABB. All rights reserved.
  • Page 51 3HAC037038-001 Connectors, tubular housing Position Description Art. no. Robot Socket connector 10p, flange mounted 3HAC023624-002 Customer connector Connector set R3.CP/CS 3HAC037070-001 Continues on next page Product specification - IRB 1200 3HAC046982-001 Revision: O © Copyright 2021 ABB. All rights reserved.
  • Page 52 1 Description 1.9 Customer connections Continued Air, connector Position Description Art. no. Robot 4xM5 Customer cable Air connector 3HAC032049-001 Product specification - IRB 1200 3HAC046982-001 Revision: O © Copyright 2021 ABB. All rights reserved.

  • Page 53: Specification Of Variants And Options

    2.1 Manipulator General The different variants and options for the IRB 1200 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 54 Foundry Plus 2 [287-3] ABB Foundry Plus 2 makes your entire robot IP67 compliant, from base to wrist meaning that the electrical compartments are sealed against liquid and solid contaminants. But it takes more than IP67 to ensure long-term trouble-free operation and long service life.
  • Page 55 Warranty Description 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 56 To simplify making customer cable for external equipment, the option connector kits, consists of connectors, pins and sockets fitting customer power (CP) and customer signals (CS) located on the base. Continues on next page Product specification - IRB 1200 3HAC046982-001 Revision: O © Copyright 2021 ABB. All rights reserved.
  • Page 57 MOTORS ON mode. The safety lamp is required on a UL/UR approved robot. xx1300000389 Robot cabling routing Under the base [966-1] Manipulator cables routed from below, underneath the base of the manipulator. xx1300000388 Product specification - IRB 1200 3HAC046982-001 Revision: O © Copyright 2021 ABB. All rights reserved.
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  • Page 59: Accessories

    For more information, see Product specification - Controller IRC5 and Application manual - Controller software IRC5. Robot peripherals • Motor Units Not applicable for IRC5 Compact controller. Product specification - IRB 1200 3HAC046982-001 Revision: O © Copyright 2021 ABB. All rights reserved.
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  • Page 61: Index

    CalibWare, 37 safety standards, 17 compensation parameters, 41 standards, 17 ANSI, 17 CAN, 17 equipment on robot, fitting, 33 EN IEC, 17 EN ISO, 17 Product specification - IRB 1200 3HAC046982-001 Revision: O © Copyright 2021 ABB. All rights reserved.
  • Page 64 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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