IRB2600 3HAC035959-001 Reva en PDF

Product specification
Articulated robot
IRB 2600 - 20/1.65

IRB 2600 - 12/1.65
IRB 2600 - 12/1.85
M2004
Product specification
IRB 2600-20/1.65
IRB 2600-12/1.65
IRB 2600-12/1.85
Document ID: 3HAC035959-001

Revision: A
© Copyright 2009-2010 ABB. All rights reserved.
The information in this manual is subject to change without notice and should not be
construed as a commitment by ABB. ABB assumes no responsibility for any errors that
may appear in this manual.
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, damages to persons
or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from
use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB's written
permission, and contents thereof must not be imparted to a third party nor be used for
any unauthorized purpose. Contravention will be prosecuted.
Additional copies of this manual may be obtained from ABB at its then current charge.
Copyright 2009-2010 ABB All rights reserved.

ABB AB
Robotics Products
SE-721 68 Västerås
Sweden
Table of Contents
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1 Description 7
1.1 Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.1.1 Introduction to Structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.1.2 Different robot versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.2 Safety/Standards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.2.1 Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.2.2 Security. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.3 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.3.1 Introduction to Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.3.2 Operating requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
1.3.3 Mounting the manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.4 Calibration and references. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
1.4.1 Fine calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
1.4.2 Absolute Accuracy calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
1.5 Robot load and load diagrams. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
1.5.1 Introduction to Robot load and load diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
1.5.2 Load diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
1.5.3 Maximum load and moment of inertia for full and limited axis 5 (center line down) movement . 31
1.5.4 Wrist torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
1.6 Mounting equipment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
1.6.1 Information about mounting equipment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
1.7 Maintenance and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
1.7.1 Introduction to Maintenance and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
1.8 Robot Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
1.8.1 Introduction to Robot Motion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
1.8.2 Performance according to ISO 9283 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
1.8.3 Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
1.8.4 Stopping distance/time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
1.9 Customer connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
1.9.1 Introduction to Customer connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
2 Specification of Variants and Options 47

2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
2.1.1 Introduction to Variants and Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
2.1.2 Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
2.1.3 Floor cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
2.1.4 Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
3 Accessories 55
3.1 General. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
3.1.1 Introduction to Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
3HAC035959-001 Revision: A 3
4
Table of Contents
3HAC035959-001 Revision: A
Overview
Overview
About this product specification

It describes the performance of the manipulator or a complete family of manipulators in terms
of:
• The structure and dimensions prints
• The fulfillment of standards, safety and operating requirements
• The load diagrams, mounting or extra equipment, the motion and the robot reach
• The specification of variants and options available
Users
It is intended for:
• Product managers and Product personnel
• Sales and Marketing personnel
• Order and Customer Service personnel
Contents
Please see Table of Contents.
Revisions
Revision Description
- - New Product Specification
A - Foundry Plus 2
Complementary product specifications
Product
Description
specification
Controller IRC5 with FlexPendant, 3HAC021785-001

Controller Software Robotware 5.12, 3HAC022349-001
IRC5
Robot User Documen- IRC5 and M2004, 3HAC024534-001
tation
Product manual Description
Manipulator IRB 2600, 3HAC035504-001
6
Overview
1 Description
1.1.1. Introduction to Structure
1 Description
1.1 Structure
Robot family
The IRB 2600 is ABB Robotics latest robot of the new sharp generation with enhanced and
new capabilities. The design has been optimized to make it superior for the targeted
applications. The IRB 2600 will focus on further expansion in, dispensing, machining,
measuring, assembly and arc welding applications.
Software product range

We have added a range of software products - all falling under the umbrella designation of
Active Safety - to protect not only personnel in the unlikely event of an accident, but also
robot tools, peripheral equipment and the robot itself.
Operating system
The robot is equipped with the operating system BaseWare OS. BaseWare OS controls every
aspect of the robot, like motion control, development and execution of application programs,
communication etc. see Product specification - Controller IRC5 with FlexPendant.
Additional functionality
For additional functionality, the robot can be equipped with optional software for application
support - for example spot welding, communication features - network communication - and
advanced functions such as multi-tasking, sensor control, etc. For a complete description on
optional software, see Product specification - Controller software IRC5.
Foundry Plus 2
The Foundry Plus option is designed for harsh environments where the robot is exposed to
sprays of coolants, lubricants and metal spits that are typical for die casting applications or
other similar applications. Typical applications are spraying insertion and part extraction of
die-casting machines, cast cleaning, handling in sand casting and gravity casting, etc. Special
care must be taken in regard to operational and maintenance requirements for applications in
foundry are as well as in other applications areas. Please contact ABB Robotics Sales
organization if in doubt regarding specific application feasibility for the Foundry Plus
protected robot. The Foundry Plus robot is painted with two-component epoxy on top of a
primer for corrosion protection. To further improve the corrosion protection additional rust
preventive are applied to exposed and crucial areas, e.g. has the tool flange a special
preventive coating. Although, continuous splashing of water or other similar rust formation
fluids may case rust attach on the robots unpainted areas, joints, or other unprotected surfaces.
Under these circumstances it is recommended to add rust inhibitor to the fluid or take other
measures to prevent potential rust formation on the mentioned. The entire robot is IP67
Continues on next page

1 Description
Continued
compliant according to IEC 60529 - from base to wrist, which means that the electrical
compartments are sealed against liquid and solid contaminants. Among other things all
sensitive parts are better protected than the standard offer.
Selected Foundry Plus/Foundry Plus 2 features:
• Improved sealing to prevent penetration into cavities to secure IP67
• Additional protection of cabling and electronics
• Special covers protecting cavities
• Well-proven connectors
• Nickel coated tool flange (Foundry Plus 2)
• Rust preventives on screws, washers and unpainted/machined surfaces
The Foundry Plus robot can be cleaned with appropriate washing equipment according to
product manual. Appropriate cleaning and maintenance are required to maintain the Foundry
Plus 2 protection, for example can rust preventive be washed off with wrong cleaning
method.
Manipulator axes
(C)
-
(D)
+
(E)
-
+ +
- (F)
(B)
- + -
(A)
+ -
xx0800000431
Pos Description Pos Description

A Axis 1 B Axis 2
C Axis 3 D Axis 4
E Axis 5 F Axis 6
8 3HAC035959-001 Revision: A
1 Description
1.1.2. Different robot versions
General
The IRB 2600 is available in three versions and all versions can be wall mounted, inverted or
tilted (up to 45 degrees around the Y-axis).
Robot type Handling capacity (kg( Reach (m)
IRB 2600 20 1.65
IRB 2600 12 1.65
IRB 2600 12 1.85
Manipulator weight
Robot type Weight

IRB 2600-20/1.65 272 kg
IRB 2600-12/1.65 272 kg
IRB 2600-12/1.85 284 kg
Other technical data
Data Description Note

Airborn noise level The sound pressure level < 69 dB (A) Leq (acc. to
outside the working space Machinery directive 98/37/EEC)
Power consumption at max load
Type of Movement IRB 2600
-20/1.65 -12/1.65 -12/.85

ISO Cube Max. velocity 0.92 kW 0.94 kW 0.92 kW
Robot in calibration
IRB 2600
position
-20/1.65 -12/1.65 -12/1.85

Brakes engaged 0.198 kW 0.198 kW 0.232 kW
Brakes disengaged 0.43 kW 0.40 kW 0.43 kW

1 Description
Continued
xx0800000431

1 Description
Continued
Dimensions IRB 2600/20(12)/1.65

xx0900000481
Pos Description
A R 348 Minimum turning radius of axis 1
B R 98 Minimum turning radius of axis 4

1 Description
Continued
Dimensions IRB 2600-12/1.85
445
xx0900000680
Pos Description
A R 98 Minimum turning radius of axis 4
B For all other dimensions see figure on previous page © Copyright 2009-2010 ABB. All rights reserved.
1 Description
1.2.1. Standards
1.2 Safety/Standards
1.2.1. Standards
Standards
The robot conforms to the following standards:
Standard Description
EN ISO 12100-1 Safety of machinery, terminology
EN ISO 12100-2 Safety of machinery, technical specification
EN 954-1 Safety of machinery, safety related parts of control Systems
EN 60204 Electrical equipment of machines
EN ISO 60204-1:2005 Safety of machinery - Electrical equipment of machines
EN ISO 10218-1:2006 Robots for industrial environments - Safety requirements
EN 609074-10:2003 Arc welding equipment - part 10: electromagnetic capability
(EMC) requirements
EN 61000-6-4: 2001 EMC, Generic emission
EN 61000-6-2: 2005 EMC, Generic immunity
a. There is a deviation from paragraph 6.2 in that oly worst case stop distances and stop times are documented
IEC 60529 Degrees of protection provided by enclosures
ISO 9787 Manipulating industrial robots, coordinate Systems and motions
ANSI/RIA 15.06/1999 Safety Requirements for Industrial Robots and Robot Systems
ANSI/UL 1740-1998 Safety Standard for Robots and Robotic Equipment
(option)
CAN/CSA Z 434-03 Industrial Robots and Robot Systems - General Safety Require-
(option) ments
1 Description
1.2.2. Security
1.2.2. Security
Security
The robot complies fully with the health and safety standards specified in the EEC’s
Machinery Directives.
Safety function Description
The Service Information The service information system gathers information about the
System (SIS) robot’s usage and determines how hard the robot is used. The
usage is characterized by the speed, the rotation angles and the
load of every axis.With this data collection, the service interval
of every individual robot of this generation can be predicted,
optimized and service activities planned ahead. The collection
data is available via the FlexPendant or the network link to the
robot.The Process Robot Generation is designed with absolute
safety in mind. It is dedicated to actively or passively avoid
collisions and offers the highest level of safety to the operators
and the machines as well as the surrounding and attached
equipment. These features are presented in the active and
passive safety system.The time the robot is in operation (brakes
released) is indicated on the FlexPendant. Data can also be
monitored over network, using for example WebWare.
The Active Safety

Description
System
General The active safety system includes those software features that
maintain the accuracy of the robot’s path and those that actively
avoid collisions which can occur if the robot leaves the
programmed path accidentally or if an obstacle is put into the
robot’s path.
The Active Brake System All robots are delivered with an active brake system that
(ABS) supports the robots to maintain the programmed path in
General Stop (GS), Auto Stop (AS) and Superior Stop (SS).The
ABS is active during all stop modes, braking the robot to a stop
with the power of the servo drive system along the programmed
path. After a specific time the mechanical brakes are activated
ensuring a safe stop.The stopping process is in accordance with
a class 1 stop. The maximum applicable torque on the most
loaded axis determines the stopping distance.In case of a failure
of the drive system or a power interruption, a class 0 stop turns
out. Emergency Stop (ES) is a class 0 stop. All stops (GS, AS,
SS and ES) are reconfigurable.While programming the robot in
manual mode, the enabling device has a class 0 stop.
The Self Tuning The Process Robot Generation is designed to run at different
Performance (STP) load configurations, many of which occur within the same
program and cycle.The robot’s installed electrical power can
thus be exploited to lift heavy loads, create a high axis force or
accelerate quickly without changing the configuration of the
robot.Consequently the robot can run in a “power mode” or a
“speed mode” which can be measured in the respective cycle
time of one and the same program but with different tool loads.
This feature is based on QuickMoveTM.The respective change
in cycle time can be measured by running the robot in NoMotion-
Execution with different loads or with simulation tools like Robot-
Studio.

1 Description
1.2.2. Security
Continued
The Active Safety

Description
System
The Electronically The load and inertia of the tool have a significant effect on the
Stabilised Path (ESP) path performance of a robot. The Process Robot Generation is
equipped with a system to electronically stabilize the robot’s
path in order to achieve the best path performance.This has an
influence while accelerating and braking and consequently
stabilizes the path during all motion operations with a
compromise of the best cycle time. This feature is secured
through TrueMoveTM.
Over-speed protection The speed of the robot is monitored by two independent
computers.
Restricting the working The movement of each axis can be restricted using software
space limits.As options there are safeguarded space stops for
connection of position switches to restrict the working space for
the axes 1-3.Axes 1-3 can also be restricted by means of
mechanical stops.
Collision detection (option) In case of an unexpected mechanical disturbance, such as a
collision, electrode sticking, etc., the robot will detect the
collision, stop on the path and slightly back off from its stop
position, releasing tension in the tool.
The Passive Safety

Description
System
General The Process Robot Generation has a dedicated passive safety
system that by hardware construction and dedicated solutions is
designed to avoid collisions with surrounding equipment. It
integrates the robot system into the surrounding equipment
safely.
Compact robot arm design The shape of the lower and upper arm system is compact,
avoiding interference into the working envelope of the robot.The
lower arm is shaped inward, giving more space under the upper
arm to re-orientate large parts and leaving more working space
while reaching over equipment in front of the robot.The rear side
of the upper arm is compact, with no components projecting
over the edge of the robot base even when the robot is moved
into the home position.
Moveable mechanical Axis 1 can be equipped with moveable mechanical stops,
limitation of axis 1 (option) limiting the working range of the axis. The mechanical stops are
designed to withstand a collision even under full load.
Electronic Position EPS offers axes position status signals, fulfilling applicable
Switches (EPS) on up to 7 regulations for personnel safety. Five outputs can each be
axes (option) 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

Description
Concept
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.

1 Description
1.2.2. Security
Continued
The Internal Safety

Description
Concept
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 The robot can be operated either manually or automatically. In
mode manual mode, the robot can only be operated via the FlexPen-
dant, that is 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 The enabling device on the FlexPendant must be used to move
device 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 A delayed stop gives a smooth stop. The robot stops the same
space stop 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.
1 Description
1.3.1. Introduction to Installation
1.3 Installation
1.3.1. Introduction to Installation
General
All versions of IRB 2600 are designed for floor, wall, tilted (up to 35 degrees, around the Y-
axis) or inverted mounting. Depending on the robot version, an end effector with max. weight
of 12 or 20 kg including payload, can be mounted on the tool flange (axis 6). See Load
diagrams in chapter 1.5.2
Extra loads
Extra loads, which are included in the load diagrams, can be mounted on the upper arm. An
extra load of 35 kg can also be mounted on the frame of axis 1. See Information about
mounting equipment in chapter 1.6.1
Working range limitations

The working range of axis 1 can be limited by mechanical stops as option. Electronic Position
Switches can also be used on all axes for position indication of the manipulator.
1 Description
1.3.2. Operating requirements
1.3.2. Operating requirements
Protection standards
Standard IP67 and Foundry Plus IP67.
Explosive envirnments
The robot must not be located or operated in an explosive environment.
Ambient temperature
Description Standard/Option Temperature

Manipulator during operation Standard + 5°C (41°F) to + 45°C (113°F)
For the controller Standard/Option See Product specification - Controller
IRC5 with FlexPendant
Complete robot during trans- Standard - 25°C (- 13°F) to + 55°C (131°F)
portation and storage
For short periods (not Standard up to + 70°C (158°F)
exceeding 24 hours)
Relative humidity
Description Relative humidity

Complete robot during operation, transportation and Max. 95% at constant temperature
storage
1 Description
1.3.3. Mounting the manipulator
Maximum load
Maximum load in relation to the base coordinate system
Endurance load in Max. load at Emergency
Mounting
operation stop
Force XY Floor, suspended, wall ±3550 N ± 6030 N
Force Z Floor 2620 ±1110 N 2620 ±3370 N
suspended -2620 ±1110 N -2620 ±3370 N
wall ±3730 N ±5990 N
Torque XY Floor, suspended, wall ±3530 N ±6980 N
Torque Z Floor, suspended, wall ±1060 N ±2540 N
xx0800000435
xx0800000436
Note regarding Mxy and Fxy

The bending torque (Mxy) can occur in any direction in the XY-plane of the base coordinate
system.The same applies to the transverse force (Fxy).

1 Description
Continued
Fastening holes robot base

Only 3 screws (Ø 500) required for fastening the robot.
xx0800000415
Attachment bolts, specification

The table below specifies required bolts and washers for securing the robot at installation site
Specification Description
Attachment bolts, 3 pcs M16 x 60 (installation directly on foundation)M16 x 70/80
(installation on foundation or base plate, using guiding
sleeves)
Washers, 3 pcs 17 x 30 x 3
Quality Quality 8.8
Tightening torque 200 Nm
NOTE!
AbsAcc performance, the chosen guide holes according to Figure above are recommended

1 Description
Continued
Mounting surface and bushings
xx0800000415
Pos Description
E Position of the front of the robot
F 1xM16 depth 30, minimum
G Guide sleeves (2 pcs)
1 Description
1.4.1. Fine calibration
1.4 Calibration and references
1.4.1. Fine calibration
General
Fine calibration is made using the Calibration Pendulum, please see Operating manual -
Calibration Pendulum
(D)
(C)
(E)
(F)
(B)
(A)
xx0800000437

A Axis 1 B Axis 2
C Axis 3 D Axis 4
E Axis 5 F Axis 6
Calibration
Calibration Position
Calibration of all axes All axes are in zero position
Calibration of axis 1 and 2 Axis 1 and 2 in zero position
Axis 3 to 6 in any position
Calibration of axis 1 Axis 1 in zero position
Axis 2 to 6 in any position
1 Description
1.4.2. Absolute Accuracy calibration
General
Requires RobotWare option Absolute Accuracy, please see Product specification - Controller
software IRC5 for more details.
The calibration concept

Absolute Accuracy (AbsAcc) is a calibration concept, which ensures a TCP absolute
accuracy of better than ±1 mm in the entire working range (working range of bending
backward robots, for example IRB 2600, are limited to only forward positions).
Absolute accuracy compensates for:
• Mechanical tolerances in the robot structure
• Deflection due to load
Absolute accuracy calibration is focusing on positioning accuracy in the cartesian coordinate
system for the robot. It also includes load compensation for deflection caused by the tool and
equipment. Tool data from robot program is used for this purpose. The positioning will be
within specified performance regardless of load.
Calibration data
The user is supplied with robot calibration data (compensation parameter file, absacc.cfg) and
a certificate that shows the performance (Birth certificate). The difference between an ideal
robot and a real robot without AbsAcc can typically be 8 mm, resulting from mechanical
tolerances and deflection in the robot structure.

1 Description
Continued
Absolute Accuracy option

Absolute Accuracy option is integrated in the controller algorithms for compensation of this
difference and does not need external equipment or calculation.Absolute Accuracy is a
RobotWare option and includes an individual calibration of the robot (mechanical
arm).Absolute Accuracy is a TCP calibration in order to Reach (m) a good positioning in the
Cartesian coordinate system.
xx0900000073
Product data
Typical production data regarding calibration are:
Robot Positioning accuracy (mm)
Average Max % Within 1 mm

IRB 2600-20/1.65 0.32 0.63 100

a a a
IRB 2600-12/1.65
a a a
IRB 2600-12/1.85
a. Data yet not available.
1 Description
1.5.1. Introduction to Robot load and load diagrams
1.5 Robot load and load diagrams
1.5.1. Introduction to Robot load and load diagrams
Information
WARNING!
It is very important to always define correct actual load data and correct payload of the robot.
Incorrect definitions of load data can result in overloading of the robot.
If incorrect load data and/or loads are outside load diagram is used the following parts can be
damaged due to overload:
• motors
• gearboxes
• mechanical structure
WARNING!
In the robot system is the service routine LoadIdentify available, which allows the user to
make an automatic definition of the tool and load, to determine correct load parameters.
Please see Operating Manual - IRC5 with FlexPendant, art. No. 3HAC16590-1, for detailed
information.
WARNING!
Robots running with incorrect load data and/or with loads outside diagram, will not be
covered by robot warranty.
General
The load diagrams include a nominal payload inertia, J0 of 0.2 kgm2 for IRB 2600-20/1.65,
IRB 2600-12/1.65 and -12/1.85, and an extra load of 15 kg at the upper arm housing for IRB
2600-12/1.65 and 10 kg for IRB 2600-20/1.65, -12/1.85. At different arm load, payload and
moment of inertia, the load diagram will be changed.
Control of load case by "RobotLoad"

For an easy check of a specific load case, use the calculation program ABB RobotLoad.
Please contact your local ABB organization.
1 Description
1.5.2. Load diagrams
IRB 2600 - 20/1.65
xx0900000701

1 Description
Continued
IRB 2600 - 20/1.65 "Vertical wrist"

xx0900000725
Description
Max load 22 kg
Zmax 0.134 m
Lmax 0.031 m

1 Description
Continued
IRB 2600 - 12/1.65
xx0900000726

1 Description
Continued
IRB 2600 - 12/1.85
xx0900000708

1 Description
Continued
IRB 2600 - 12/1.85 "Vertical wrist" (+-10)

For wrist down (0 deviation from the vertical line).
xx0900000709
Description

Max load 13 kg
Zmax 0.131 m
Lmax 0.040 m
1 Description
1.5.3. Maximum load and moment of inertia for full and limited axis 5 (center line down) movement
1.5.3. Maximum load and moment of inertia for full and limited axis 5 (center line
down) movement
Information
NOTE!
Total load given as: Mass in kg, center of gravity (Z and L) in meter and moment of inertia
(Jox Joy Joz) in kgm2. L=sqr(x2 + y2).
Full movement of axis 5
Axis Robot Type Maximum moment of interia

5 -20/1.65 Ja5 = Load x ((Z + 0,0852 + L2) + max (J0x, J0y) = 2.0 kgm2
-12/1.65 Ja5 = Load x ((Z + 0,0852 + L2) + max (J0x, J0y) = 2.0 kgm2
-12/1.85 Ja5 = Load x ((Z + 0,085)2 + L2) + max (J0x, J0y) = 2.0 kgm2
6 -20/1.65 Ja6 = Load x L2 + J0Z. = 1.0 kgm2
-12/1.65 Ja6 = Load x L2 + J0Z. = 1.0 kgm2
-12/1.85 Ja6 = Load x L2 + J0Z. = 1.0 kgm2
xx0800000458
Pos Description
A Center of gravity
Description
Jox, Joy, Joz Max. moment of inertia around the X, Y and Z axes at center of
gravity.

1 Description
1.5.3. Maximum load and moment of inertia for full and limited axis 5 (center line down) movement
Continued
Limited axis 5, center line down
Axis Robot Type Maximum moment of interia

5 -20/1.65 Ja5 = Load x ((Z + 0,0852 + L2) + max (J0x, J0y) = 2.0 kgm2
-12/1.65 Ja5 = Load x ((Z + 0,0852 + L2) + max (J0x, J0y) = 2.0 kgm2
-12/1.85 Ja5 = Load x ((Z + 0,085)2 + L2) + max (J0x, J0y) = 2.0 kgm2
6 -20/1.65 Ja6 = Load x L2 + J0Z. = 1.0 kgm2
-12/1.65 Ja6 = Load x L2 + J0Z. = 1.0 kgm2
-12/1.85 Ja6 = Load x L2 + J0Z. = 1.0 kgm2
xx0800000459
Pos Description
A Center of gravity
Description
Jox, Joy, Joz Max. moment of inertia around the X, Y and Z axes at center of
gravity.
1 Description
1.5.4. Wrist torque
1.5.4. Wrist torque
Maximum torque due to payload

The table below shows the maximum permissible torque due to payload:
NOTE!
The values are for reference only, and should not be used for calculating permitted load offset
(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. For finding the absolute limits of the load diagram, please use the ABB RobotLoad.
Please contact your local ABB organization.
Max wrist torque Max wrist torque Max torque valid

Robot type
axis 4 and 5 axis 6 at load
IRB 2600 - 20/1.65 36.3 Nm 16.7 Nm 20 kg
IRB 2600 - 12/1.65 21.8 Nm 10.0 Nm 12 kg
IRB 2600 - 12/1.85 21.8 Nm 10.0 Nm 12 kg
1 Description
1.6.1. Information about mounting equipment
1.6 Mounting equipment
General
Extra loads can be mounted on the wrist, the upper arm housing and on the frame. Definitions
of load areas and permitted load are shown in. The center of gravity of the extra load shall be
within the marked load areas. The robot is supplied with holes for mounting of extra
equipment. (See figures in Holes for mounting of extra equipment.)
xx0900000494
Max load
Load area Robot
A B C A+C D
IRB 2600 - 20/1.65 10 kg 1 kg 10 kg 10 kg 35 kg
IRB 2600 - 12/1.65 15 kg 1 kg 15 kg 15 kg 35 kg
IRB 2600 - 12/1.85 10 kg 1 kg 10 kg 10 kg 35 kg
NOTE!
Maximum loads must never be exceeded!

1 Description
Continued
Holes for mounting of extra equipment
xx0900000484
xx0900000485
xx0900000486

1 Description
Continued
xx0900000487
xx0900000488

1 Description
Continued
xx0900000489
xx0900000490

1 Description
Continued
445
xx0900000491
445

xx0900000492

1 Description
Continued
Tool flange
xx0800000449
For fastening of Gripper tool frange to Robot tool flange every other one of the screw holes
for 6 screws, quality class 12.9 shall be used. Min. 10 mm used threadlength
1 Description
1.7.1. Introduction to Maintenance and Troubleshooting
1.7 Maintenance and Troubleshooting
1.7.1. Introduction to Maintenance and Troubleshooting
General
The robot requires only minimum maintenance during operation. It has been designed to
make it as easy to service as possible:
• Maintenance-free AC motors are used.
• Oil is used for the geaer boxes.
• The cabling is routed for longevity, and in the unlikely event of a failure, its modular
design makes it easy to change.
Maintenance
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.
1 Description
1.8.1. Introduction to Robot Motion
1.8 Robot Motion
IRB 2600
Axis Type of motion Range of movement

1 Rotation Motion + 180° to - 180° a
2 Arm motion + 155° to - 95°
3 Arm motion + 75° to - 180°
4 Rotation Motion + 400° to - 400°
5 Bend motion + 120° to - 120°
6 Turn motion + 400° to - 400°
a. Axis 1 working range has the following limitations for wall mounted robots:
Working range Max combined pay/
Max Max armload (kg) for
axis 1, with max
Robot variant payload armload
payload + max ±180o working range
(kg) (kg)
arm load axis 1
IRB 2600-20/1.65 20 11 ±45o 8
o
IRB 2600-12/1.65 12 16 ±45 8
IRB 2600-12/1.85 12 11 ±40o -
For verifying each Load case, please contact your Local ABB orginazation.
b. The default working range for axis 4 and axis 6 can be extended by changing parameter
values in the software. 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).

1 Description
Continued
Working range
xx0800000267
Variant Pos. A Pos. B Pos. C Pos. D Pos. E Pos. F

IRB 2600-20/1.65 1948 mm 993 mm 837 mm 469 mm 1353 mm 1653 mm
1 Description
1.8.2. Performance according to ISO 9283
1.8.2. Performance according to ISO 9283
General
At rated maximum load, maximum offset and 1.6 m/s velocity on the inclined ISO test plane,
1m cube with all six axes in motion
The figures for AP, RP, AT and RT are measured according to figure below.
xx0800000424

A Programmed position E Programmed path
B Mean position at program D Actual path at program execution
execution
AP Mean distance from AT Max deviation from E
programmed position
RP Tolerance of position B at RT Tolerance of the path at repeated
repeated positioning program execution
Description IRB 2600
- 20/1.65 -12/1.65 - 12/1.85

Pose repeatability, RP (mm) 0.04 0.04 0.04
a
Pose accuracy, AP (mm) 0.03 0.03 0.03
Linear path repeatability, RT (mm) 0,13 0.14 0,16

Linear path accuracy, AT (mm) 0.55 0.60 0.70
Pose stabilization time, (PSt) to 0.74 0.29 0.21
within 0.1 mm of the position (s)
a. AP according to the ISO teset above, is the difference between the reached position
(position manually modified in the cell) and the average potition obtained during program
execution
1 Description
1.8.3. Velocity
1.8.3. Velocity
Maximum axis speed
Robot Type Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6

IRB 2600 - 20/1.65 175 °/s 175 °/s 175 °/s 360 °/s 360 °/s 500 °/s
IRB 2600 - 12/1.65 175 °/s 175 °/s 175 °/s 360 °/s 360 °/s 500 °/s
IRB 2600 - 12/1.85 175 °/s 175 °/s 175 °/s 360 °/s 360 °/s 500 °/s
There is a supervision function to prevent overheating in applications with intensive and

frequent movements.
Axis Resolution
0.001° to 0.005°.
1 Description
1.8.4. Stopping distance/time
1.8.4. Stopping distance/time
Stopping distance/time for all IRB2600 variants

Stopping distance/time for emergency stop (category 0), program stop (category 1) and at
mains power supply failure at max speed, max stretched out and max load, categories
according to EN 60204-1. All results are from tests on one moving axis. All stop distances
are valid for floor mounted robot, without any tilting.
Category 0 Category 1 Main power failure

Robot Type
Axis A B A B A B
a
IRB 2600-20/1.65 1 23.4 0.25 37.7 0.37 34.0
a
2 25.2 0.27 38.5 0.38 34.1
a
3 15.6 0.18 32.5 0.29 26.6
a
IRB 2600-12/1.65 1 21.4 0.23 35.2 0.34 31.7
a
2 20.1 0.21 30.4 0.32 27.7
a
3 12.2 0.14 25.0 0.22 23.0
a
IRB 2600-12/1.85 1 24.8 0.27 41.5 0.41 35.8
a
2 24.5 0.26 38.3 0.40 32.5
a
3 12.1 0.14 25.0 0.23 23.7
a. Data not yet available.
Description
A Distance in degrees
B Stop time (s)
1 Description
1.9.1. Introduction to Customer connections
1.9 Customer connections
1.9.1. Introduction to Customer connections
General
Customer connections are options, the cables for them are integrated in the robot and the
connectors are placed on the upper arm housing and at the base. One UT0W71210SH06
connector (R2. CP(/CBUS)) and one UT0W71626H06 connector (R2.CS(/CP)).
Corresponding connectors, R1.CP(/CBUS) and R1.CS(/CP) are located at the base.Hose for
compressed air is also integrated into the manipulator. There is an (M16-3/8” hose) inlet at
the base and an outlet on the rear part of the upper arm.
(C) (A) (B)

xx0800000426
Pos Connection Description Number Value

a
A R2.CP Customer power 4 300 V, 2 A

B R2.CS Customer signals 23 50 V, 0.5 A
C Air max 8 bar 1 Inner hose diameter 9.5 mm
Connectors when Multibus, Parallel communication, option 803-2 is chosen:

Pos Connection Description Number Value
A R2.CBUS Multibus comm. PROFINET, EtherNet/IP
DeviceNet PROFIBUS
B R2.CP/CS Cust. power/signals 3a/6 300 V, 2 A / 50 V, 0.5 A
C Air max 8 bar 1 Inner hose diameter 9.5 mm
a. One protected ground included.
2 Specification of Variants and Options
2.1.1. Introduction to Variants and Options

2.1 Introduction
2.1.1. Introduction to Variants and Options
General
The different variants and options for the IRB 2600 are described below.The same numbers
are used here as in the Specification form. For controller, see Product specification -
Controller IRC5 with FlexPendant and for software options, see Product specification -
Controller software IRC5/RobotWare.
2.1.2. Manipulator
2.1.2. Manipulator
Variants
Option IRB Type Handling capacity (kg) / Reach (m)

435-84 IRB 2600 20/2.05
435-85 IRB 2600 12/1.65
435-86 IRB 2600 12/1.65
Manipulator color
Option Description
209-1 The robot is painted in color ABB Orange.
209-2 The robot is painted in white color.
209-4 -192 The manipulator is painted with the chosen RAL-color.
Protection
Option Description
287-4 Standard
287-3 The Foundry Plus option is designed for harsh environments where the robot
is exposed to sprays of coolants, lubricants and metal spits that are typical for
die casting applications or other similar applications. Typical applications are
spraying insertion and part extraction of die-casting machines, cast cleaning,
handling in sand casting and gravity casting, etc. Special care must be taken
in regard to operational and maintenance requirements for applications in
foundry are as well as in other applications areas. Please contact ABB
Robotics Sales organization if in doubt regarding specific application feasibility
for the Foundry Plus robot. The Foundry Plus robot is painted with two-
component epoxy on top of a primer for corrosion protection. To further
improve the corrosion protection additional rust preventive are applied to
exposed and crucial areas, e.g. has the tool flange a special preventive
coating. Although, continuous splashing of water or other similar rust

formation fluids may case rust attach on the robots unpainted areas, joints, or
other unprotected surfaces. Under these circumstances it is recommended to
add rust inhibitor to the fluid or take other measures to prevent potential rust
formation on the mentioned.The entire robot is IP67 compliant according to
IEC 60529 - from base to wrist, which means that the electrical compartments
are sealed against liquid and solid contaminants. Among other things all
sensitive parts are better protected than the standard offer.
Selected Foundry Plus/Foundry Plus 2 features:
• Improved sealing to prevent penetration into cavities to secure IP67
• Additional protection of cabling and electronics
• Special covers protecting cavities
• Well-proven connectors
• Rust preventives on screws, washers and unpainted/machined
surfaces
• Extended service and maintenance program
The Foundry Plus 2 robot can be cleaned with appropriate washing
equipment.

2.1.2. Manipulator
Continued
Mounting position
Option Description
224-2 Inverted mounting of the manipulator Not together with option 603-1, AbsAcc.
NOTE!
Manipulators delivered for floor mounting must have the option added before changing
mounting position to inverted.
Media & Communication

Air supply and signals for extra equipment upper arm, see 1.9 Customer connections.
Option Type Description
803-1 Parallel communication Includes customer power CP and customer signals
and air CS + air.
803-2 Ethernet, parallel com- Includes CP, CS and PROFINET or Ethernet/IP + air.
munication and air
803-3 DeviceNet, parallel Includes CP, CS and DeviceNet + air
communication and air
803-4 PROFIBUS Includes CP, CS and PROFIBUS + air
Connector kit
The kit consists of connectors, pins and sockets:
Option Description
431-1 For the connectors on the upper arm.
239-1 For the connectors on the foot if connection to manipulator.
Safety lamp
Option Description
231-1 Safety lamp safety lamp with an orange fixed light can be mounted on the
manipulator.The lamp is active in MOTORS ON mode.The safety lamp is
required on a UL/UR approved robot.
xx0800000427

2.1.2. Manipulator
Continued
Cooling fans for axis 1 and 2 motor

To be used to avoid overheating of motors and gears in application with intensive motion
(high average speed and/or high average torque and/or short wait time) of axis 1 and axis 2.
IP54 valid for cooling fan.
xx0900000232
Option Description
A Cooling fan for axis 1 motor.
B Cooling fan for axis 2 motor.
C Protection cover
Resolver connection, axis 7

A connector for resolver signals for axis 7 located on the base
Option Description Remark © Copyright 2009-2010 ABB. All rights reserved.

864-1 On base Needed for Connection box (BRB), option 1018-1 to
-3, on Specification Form for Motor Units. Used
together with first additional drive option 770-4.
Electronical Position Switches (EPS)

The mechanical position switches indicating the position of the three main axes are replaced
with electronic position switches for up to 7 axes, for increased flexibility and robustness.For
more detailed information, see Product specification - Controller IRC5 with FlexPendant and
Application Manual Electronic Position Switches, art. No. 3HAC0277709-001.

2.1.2. Manipulator
Continued
Working range limit-Axis 1

The working range of axis 1 can be limited between ± 129o to ± 16.5o in steps of 22.5o
Option Description
28-1 Axis 1 Two stops for restricting the working range.The stops can be mounted
according to example in.
xx0800000410
Pos Description
A Movable mechanical stop, limited to - 129o
B Movable mechanical stop, limited to + 16.5o
C Movable mechanical stop, limited to - 16.5o
Warranty

438-1 Standard Warranty Standard warranty is 18 months (1 1/2 years)
438-2 Standard + 12 months 18 + 12 months (2 1/2 years)
438-4 Standard + 18 months 18 + 18 months (3 years)
438-5 Standard + 24 months 18 + 24 months (3 1/2 years)
438-6 Standard + 6 months 18 + 6 months (2 years)
438-8 Stock Warranty Maximum 6 months postponed warranty starting
from shipment date ABB Robotics Production unit
(PRU) + Option 438-1. Warranty commences auto-
matically after 6 months or from activation date of
standard warranty. (See ABB Robotics BA Warranty
Rules).
2.1.3. Floor cables
2.1.3. Floor cables
Manipulator cable lenght
Option Lenghts (m)

210-2 7
210-3 15
210-4 22
210-5 30
Application interface Connection
Option Name Description

16-1 Cabinet The signals are connected to 12-pole screw
terminals, Phoenix MSTB 2.5/12-ST-5.08, to the
Control Module.
Connection of Parallel/CAN DeviceNet communication

Following information specifies the cable length for Parallel/CAN DeviceNet/Ether-net +
PROFIBUS floor cables for connections between cabinets and manipulator.
Option Lenghts (m)

94-1/90-2/92-2 7
94-2/90-3/859-2/92-3 15
94-3/90-4/92-4 22
94-4/90-5/859-4/92-5 30
2.1.4. Documentation
DVD User Documentation

808-1 Documentation on DVD See Product specification Robot User Documentation
3 Accessories
3.1.1. Introduction to Accessories
3 Accessories
3.1 General
3.1.1. Introduction to Accessories
General
There is a range of tools and equipment available.
Basic software and software options for robot and PC

For more information, see Product specification - Controller IRC5 with FlexPendant and
Product specification - Controller software IRC5/RobotWare
Robot Peripherals
• Track Motion
• Motor Units
Index
A V
absolute accuracy option 24 variants 48
airborn noise level 9 velocity 44
attachment bolts 20
W
axis resolution 44
working range 42
C working range limit-axis 1 51
calibration and references 22 wrist torque 33
connector kit 49
cooling fans 50
customer connections 46
D
dimensions 11
E
electronical position switches 50
F
fastening holes robot base 20
floor cables 52
Foundry Plus 2 7
I
installation 17
L
load diagrams 26
M
maintenance 40
manipulator color 48
manipulator weight 9
media & communication 49
moment of inertia 31
mounting of equipment 34
mounting position 49
mounting the manipulator 19
O
operation standards 18
options 47
P
performance 43
power consumption 9
protection 48
protection standards 18
R
resolver connection 50
robot load 25
robot motion 41
S
safety lamp 49
standards 13
stopping distance/time 45
Structure 7
T
tool flange 39
58
Index
3HAC035504-001, Revision A, en
ABB Robotics
S-721 68 VÄSTERÅS
SWEDEN
Telephone: +46 (0) 21 344000
Telefax: +46 (0) 21 132592

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Product specification

IRB 2600 - 20/1.65

Document ID: 3HAC035959-001

© Copyright 2009-2010 ABB. All rights reserved.

Copyright 2009-2010 ABB All rights reserved.

2 Specification of Variants and Options 47

About this product specification

Complementary product specifications

Controller IRC5 with FlexPendant, 3HAC021785-001

1.1.1. Introduction to Structure

Software product range

Continues on next page

© Copyright 2009-2010 ABB. All rights reserved.

Pos Description Pos Description

1.1.2. Different robot versions

Robot type Weight

Other technical data

Data Description Note

Power consumption at max load

Type of Movement IRB 2600

-20/1.65 -12/1.65 -12/.85

-20/1.65 -12/1.65 -12/1.85

Continues on next page

© Copyright 2009-2010 ABB. All rights reserved.

Continues on next page

Dimensions IRB 2600/20(12)/1.65

Continues on next page

Dimensions IRB 2600-12/1.85

The Active Safety

Continues on next page

The Active Safety

The Passive Safety

The Internal Safety

Continues on next page

The Internal Safety

© Copyright 2009-2010 ABB. All rights reserved.

1.3.1. Introduction to Installation

Working range limitations

1.3.2. Operating requirements

Description Standard/Option Temperature

Description Relative humidity

© Copyright 2009-2010 ABB. All rights reserved.

1.3.3. Mounting the manipulator

Note regarding Mxy and Fxy

Continues on next page

Fastening holes robot base

Attachment bolts, specification

© Copyright 2009-2010 ABB. All rights reserved.

Continues on next page

Mounting surface and bushings

1.4 Calibration and references

1.4.1. Fine calibration

Pos Description Pos Description

1.4.2. Absolute Accuracy calibration

The calibration concept

Continues on next page

Absolute Accuracy option

Robot Positioning accuracy (mm)

Average Max % Within 1 mm