ABB Positioners
ABB Positioners
© Positioner range - 1 01-11-06 -
-reliability -quality -performance
© Positioner range - 2
Positioner range
General features All AllABB ABBpositioners positionersare areofofrobust robustconstruction constructiontotoensure ensureexcellent excellent stability. stability. They Theyuse usethe thesame samedrive drivesystems systemsand andsoftware softwareas asthe therobots. robots.The The dynamic dynamicsoftware softwareautomatically automaticallycompensates compensatesfor forthe theeffects effectsofof gravity, gravity,inertia inertiaand andfriction frictiontotoprovide providefast fastmovements movementsand andaccurate accurate following followingof ofthe theprogrammed programmedpath. path. ABB’s ABB’spositioners positionersare aredesigned designedto tobe behighly highlyfunctional functionalyet yetcompact compact thus making maximum use of available floor space. thus making maximum use of available floor space.
© Positioner range - 3
Standardised Standardiseddimensions dimensionsfor forall allrotating rotatingplates platesgreatly greatlysimplifies simplifies exchanging exchangingfixtures. fixtures. ABB ABBpositioners positionerscan canbe besupplied suppliedwith withall allnecessary necessarysafety safety equipment. equipment.
IRBP A-type
Two axes manipulation n One or two station solution n optimize for solutions for work pieces with complex geometry n 250, 500 or 750 kg payload
© Positioner range - 4
n
© Positioner range - 5
Cell solutions Function Package A
IRBP C-type
n n
© Positioner range - 6
n
Two station solution Fast interchange motion 500 or 1000 kg payload
© Positioner range - 7
Cell solutions Function Package C
IRBP C INDEX-type
Multi station solution n Fast index motion n 250 or 500 kg payload
© Positioner range - 8
n
© Positioner range - 9
Cell solutions Function Package Index
IRBP R-type
Two station solution n Full co-ordination with robot for external axes n 250, 500 or 750 kg payload n Length up to 2000 mm nThree simultaneously used drive units during interchange
© Positioner range - 10
n
© Positioner range - 11
Cell solutions Function Package R
IRBP K-type
Two station solution n Full co-ordination with robot for external axes n 250, 500 or 750 kg payload n Length up to 4000 mm n Can be used with two robots nThree simultaneously use drive units during interchange
© Positioner range - 12
n
© Positioner range - 13
Cell solutions Function Package K
Interchange operation
© Positioner range - 14
There Thereare aretwo twodifferent differentways waysof ofusing usingthe thethree three simultaneously simultaneouslydrive driveunits unitsfor forB,D,R B,D,Rand andKK positioners positioners nn Dynamic Dynamicmove: move: The The fastest fastest way way to to do do the the interchange interchange operation operation Maximal Maximaltorque torqueon onat atleast leastone onemotor motorduring duringthe the motion motion nn Independent Independent move: move: Enable Enabletorch torchcleaning cleaningduring duringinterchange. interchange. Extend Extend the the interchange interchange time time approx. approx. 1.0s 1.0s Both Bothways waysof ofmotion motionis isallowed allowedin inthe thesame samesystem system
IRBP L-type
One axes manipulation n One or two station solution n Can be used in different setups (head,tail & beam) n 250, 500, 750, 2000 and 5000 kg payload
© Positioner range - 15
n
IRBP D-type
Two axes manipulation n Two station solution n Can be used in different setups (one or two robots) n 250 or 500 kg payload
© Positioner range - 16
n
IRBP B-type
Two axes manipulation n Two station solution n Can be used in different setups (one or two robots) n 250, 500 or 750 kg payload
© Positioner range - 17
n
swivels / media supply Description of media Air
Max 8 bar
Water
Max 10 bar
Oil
Max 200 bar
MTC 250
Media swivel
> MTC 500 Air
Max 8 bar
Water
Max 10 bar
Oil
Max 200 bar
Electric
Max 2 Amp Max 48 Volt Signal quality :
CAN-bus
© Positioner range - 18
ProfiBus Interbus
Electrical swivel
Support bearing Double bearing
© Positioner range - 19
Option : Extra current collector
Modules Dynamic model
Dynamic model
High performance
High performance
with less peak power
with less peak power
Damping of dist.torque
Dynamic model
© Positioner range - 20
MIC-unit Interchange unit
Same gear box / AC-motor Higher volume = Less cost
MTC-unit Turning unit
© Positioner range - 21
MTC / Technical data Handling capacity Cont. Torque Max inertia Max bending torque Max speed Max acc Repeatability
Technical data MTC Unit MTC 250 MTC 500 kg 250 500 Nm 350 650 kgm2 40 170 Nm 650 5000 rpm 30 25 rad/s2 3,2 2,9 mm 0,1 0,1
Handling capacity Cont. Torque Max inertia Max bending torque Max speed Max acc Repeatability
Unit MTC 2000 kg 2000 Nm 3800 kgm2 1200 Nm 25000 rpm 15 rad/s2 0,8 mm 0,1
MTC 5000 5000 9000 3500 60000 6,5 0,5 0,1
MTC 750 750 900 300 5000 25 2,7 0,1
Dynamic model - HPP
Non linearity
n
Load Id
n
True Move
n
Quick Move
Coupled mass inertia Mass inertia
Friction
Centre of gravity
Mechanical
© Positioner range - 22
resonance Disturbance torque
Dynamic model - HPP Gives the user: Reduced cycle time ( 5-15 % approx )
n
Improved quality (better path performance)
n
Reduced interchange time (three drive units during interchange)
© Positioner range - 23
n
STANDARD FOR ALL POSITIONERS !!
© Positioner range - 24
© Positioner range - 1 01-11-06 -
-reliability -quality -performance
© Positioner range - 2
Positioner range
General features All AllABB ABBpositioners positionersare areofofrobust robustconstruction constructiontotoensure ensureexcellent excellent stability. stability. They Theyuse usethe thesame samedrive drivesystems systemsand andsoftware softwareas asthe therobots. robots.The The dynamic dynamicsoftware softwareautomatically automaticallycompensates compensatesfor forthe theeffects effectsofof gravity, gravity,inertia inertiaand andfriction frictiontotoprovide providefast fastmovements movementsand andaccurate accurate following followingof ofthe theprogrammed programmedpath. path. ABB’s ABB’spositioners positionersare aredesigned designedto tobe behighly highlyfunctional functionalyet yetcompact compact thus making maximum use of available floor space. thus making maximum use of available floor space.
© Positioner range - 3
Standardised Standardiseddimensions dimensionsfor forall allrotating rotatingplates platesgreatly greatlysimplifies simplifies exchanging exchangingfixtures. fixtures. ABB ABBpositioners positionerscan canbe besupplied suppliedwith withall allnecessary necessarysafety safety equipment. equipment.
IRBP A-type
Two axes manipulation n One or two station solution n optimize for solutions for work pieces with complex geometry n 250, 500 or 750 kg payload
© Positioner range - 4
n
© Positioner range - 5
Cell solutions Function Package A
IRBP C-type
n n
© Positioner range - 6
n
Two station solution Fast interchange motion 500 or 1000 kg payload
© Positioner range - 7
Cell solutions Function Package C
IRBP C INDEX-type
Multi station solution n Fast index motion n 250 or 500 kg payload
© Positioner range - 8
n
© Positioner range - 9
Cell solutions Function Package Index
IRBP R-type
Two station solution n Full co-ordination with robot for external axes n 250, 500 or 750 kg payload n Length up to 2000 mm nThree simultaneously used drive units during interchange
© Positioner range - 10
n
© Positioner range - 11
Cell solutions Function Package R
IRBP K-type
Two station solution n Full co-ordination with robot for external axes n 250, 500 or 750 kg payload n Length up to 4000 mm n Can be used with two robots nThree simultaneously use drive units during interchange
© Positioner range - 12
n
© Positioner range - 13
Cell solutions Function Package K
Interchange operation
© Positioner range - 14
There Thereare aretwo twodifferent differentways waysof ofusing usingthe thethree three simultaneously simultaneouslydrive driveunits unitsfor forB,D,R B,D,Rand andKK positioners positioners nn Dynamic Dynamicmove: move: The The fastest fastest way way to to do do the the interchange interchange operation operation Maximal Maximaltorque torqueon onat atleast leastone onemotor motorduring duringthe the motion motion nn Independent Independent move: move: Enable Enabletorch torchcleaning cleaningduring duringinterchange. interchange. Extend Extend the the interchange interchange time time approx. approx. 1.0s 1.0s Both Bothways waysof ofmotion motionis isallowed allowedin inthe thesame samesystem system
IRBP L-type
One axes manipulation n One or two station solution n Can be used in different setups (head,tail & beam) n 250, 500, 750, 2000 and 5000 kg payload
© Positioner range - 15
n
IRBP D-type
Two axes manipulation n Two station solution n Can be used in different setups (one or two robots) n 250 or 500 kg payload
© Positioner range - 16
n
IRBP B-type
Two axes manipulation n Two station solution n Can be used in different setups (one or two robots) n 250, 500 or 750 kg payload
© Positioner range - 17
n
swivels / media supply Description of media Air
Max 8 bar
Water
Max 10 bar
Oil
Max 200 bar
MTC 250
Media swivel
> MTC 500 Air
Max 8 bar
Water
Max 10 bar
Oil
Max 200 bar
Electric
Max 2 Amp Max 48 Volt Signal quality :
CAN-bus
© Positioner range - 18
ProfiBus Interbus
Electrical swivel
Support bearing Double bearing
© Positioner range - 19
Option : Extra current collector
Modules Dynamic model
Dynamic model
High performance
High performance
with less peak power
with less peak power
Damping of dist.torque
Dynamic model
© Positioner range - 20
MIC-unit Interchange unit
Same gear box / AC-motor Higher volume = Less cost
MTC-unit Turning unit
© Positioner range - 21
MTC / Technical data Handling capacity Cont. Torque Max inertia Max bending torque Max speed Max acc Repeatability
Technical data MTC Unit MTC 250 MTC 500 kg 250 500 Nm 350 650 kgm2 40 170 Nm 650 5000 rpm 30 25 rad/s2 3,2 2,9 mm 0,1 0,1
Handling capacity Cont. Torque Max inertia Max bending torque Max speed Max acc Repeatability
Unit MTC 2000 kg 2000 Nm 3800 kgm2 1200 Nm 25000 rpm 15 rad/s2 0,8 mm 0,1
MTC 5000 5000 9000 3500 60000 6,5 0,5 0,1
MTC 750 750 900 300 5000 25 2,7 0,1
Dynamic model - HPP
Non linearity
n
Load Id
n
True Move
n
Quick Move
Coupled mass inertia Mass inertia
Friction
Centre of gravity
Mechanical
© Positioner range - 22
resonance Disturbance torque
Dynamic model - HPP Gives the user: Reduced cycle time ( 5-15 % approx )
n
Improved quality (better path performance)
n
Reduced interchange time (three drive units during interchange)
© Positioner range - 23
n
STANDARD FOR ALL POSITIONERS !!
© Positioner range - 24
