ABB IRB 6620 Product Specification Download

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1 Description

1.2.1 Standards

3HAC 025861-001

Rev.E

Electronic Position
Switches (EPS) on up
to 7 axes (option)

EPS offers axes position status signals, fulfilling applicable
regulations for personnel safety. Five outputs can each be
configured to reflect the position of a single axis or a combination of
axes. For each output, the range for each included axis can be set
arbitrarily.

The Internal Safety
Concept

Description

General

The internal safety concept of the Process Robot Generation is
based on a two-channel circuit that is monitored continuously. If any
component fails, the electrical power supplied to the motors shuts
off and the brakes engage.

Safety category 3

Malfunction of a single component, such as a sticking relay, will be
detected at the next MOTOR OFF/MOTOR ON operation. MOTOR
ON is then prevented and the faulty section is indicated. This
complies with category 3 of EN 954-1, Safety of machinery - safety
related parts of control Systems - Part 1.

Selecting the operating
mode

The robot can be operated either manually or automatically. In
manual mode, the robot can only be operated via the FlexPendant,
i.e. not by any external equipment.

Reduced speed

In manual mode, the speed is limited to a maximum of 250 mm/s
(600 inch/min.). The speed limitation applies not only to the TCP
(Tool Center Point), but to all parts of the robot. It is also possible to
monitor the speed of equipment mounted on the robot.

Three position enabling
device

The enabling device on the FlexPendant must be used to move the
robot when in manual mode. The enabling device consists of a
switch with three positions, meaning that all robot movements stop
when either the enabling device is pushed fully in, or when it is
released completely. This makes the robot safer to operate.

Safe manual
movement

The robot is moved using a joystick instead of the operator having
to look at the FlexPendant to find the right key.

Emergency stop

There is one emergency stop push button on the controller and
another on the FlexPendant. Additional emergency stop buttons
can be connected to the robot’s safety chain circuit.

Safeguarded space
stop

The robot has a number of electrical inputs which can be used to
connect external safety equipment, such as safety gates and light
curtains. This allows the robot’s safety functions to be activated
both by peripheral equipment and by the robot itself.

Delayed safeguarded
space stop

A delayed stop gives a smooth stop. The robot stops the same way
as at a normal program stop with no deviation from the programmed
path. After approx. 1 second the power supplied to the motors is
shut off.

Hold-to-run control

“Hold-to-run” means that you must depress the start button in order
to move the robot. When the button is released the robot will stop.
The hold-to-run function makes program testing safer.

Fire safety

Both the manipulator and control system comply with UL’s
(Underwriters Laboratories Inc.) tough requirements for fire safety.

Safety lamp (option)

As an option, the robot can be equipped with a safety lamp mounted
on the manipulator. This is activated when the motors are in the
MOTORS ON state.

The Passive Safety
System

Description