3HAC044265 PS IRB 6700-En

ROBOTICS
Product specification
IRB 6700
Trace back information:
Workspace R19B 6-09 version a1
Checked in 2019-05-29
Skribenta version 5.3.012
Product specification
IRB 6700-235/2.65
IRB 6700-205/2.80
IRB 6700-175/3.05
IRB 6700-150/3.20
IRB 6700-200/2.60
IRB 6700-155/2.85
IRB 6700-300/2.70
IRB 6700-245/3.00
IRB 6700Inv-300/2.60
IRB 6700Inv-245/2.90
IRC5
Document ID: 3HAC044265-001

Revision: M
© Copyright 2019 ABB. All rights reserved.

Specifications subject to change without notice.
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.
Keep for future reference.
Additional copies of this manual may be obtained from ABB.
Original instructions.

Table of contents
Table of contents
Overview of this product specification ............................................................................................. 7
1 Description 9
1.1 Structure ......................................................................................................... 9
1.1.1 Introduction ............................................................................................ 9
1.1.2 Different robot versions ............................................................................ 12
1.1.3 Definition of version designations ............................................................... 13
1.2 Standards ........................................................................................................ 18
1.2.1 Applicable standards ............................................................................... 18
1.3 Installation ....................................................................................................... 20
1.3.1 Introduction to installation ......................................................................... 20
1.3.2 Operating requirements ............................................................................ 21
1.3.3 Assembling the manipulator ...................................................................... 22
1.4 Calibration and references .................................................................................. 29
1.4.1 Calibration methods ................................................................................. 29
1.4.2 Fine calibration ....................................................................................... 31
1.4.3 Absolute Accuracy calibration ................................................................... 32
1.5 Load diagrams .................................................................................................. 35
1.5.1 Introduction ............................................................................................ 35
1.5.2 Diagrams ............................................................................................... 36
1.5.3 Maximum load and moment of inertia for full and limited axis 5 (center line down)
movement .............................................................................................. 66
1.5.4 Wrist torque ........................................................................................... 68
1.5.5 Maximum TCP acceleration ....................................................................... 69
1.6 Fitting equipment to the robot ............................................................................. 70
1.7 Maintenance and troubleshooting ......................................................................... 79
1.8 Robot motion .................................................................................................... 80
1.8.1 Robot motion .......................................................................................... 80
1.8.2 Performance according to ISO 9283 ............................................................ 93
1.8.3 Velocity ................................................................................................. 95
1.8.4 Robot stopping distances and times ........................................................... 96
1.9 Cooling fan for axis 1 motor ................................................................................ 97
1.10 Servo gun ........................................................................................................ 98
1.10.1 Introduction ............................................................................................ 98
1.10.2 Stationary gun ........................................................................................ 99
1.10.3 Robot gun .............................................................................................. 100
1.10.4 Robot gun and track motion ...................................................................... 101
1.10.5 Track motion .......................................................................................... 102
2 DressPack and SpotPack 103

2.1 Introduction ...................................................................................................... 103
2.1.1 Included options ..................................................................................... 103
2.1.2 Product range ......................................................................................... 105
2.1.3 Limitations of robot movements ................................................................. 106
2.1.4 Impact on DressPack lifetime .................................................................... 107
2.1.5 Information structure ............................................................................... 108
2.2 DressPack ....................................................................................................... 109
2.2.1 Introduction ............................................................................................ 109
2.2.2 Built-in features for upper arm DressPack .................................................... 110
2.2.3 Interface descriptions for DressPack ........................................................... 111
2.2.4 Dimensions ............................................................................................ 116
2.3 Type H/HSe ...................................................................................................... 117
2.3.1 Introduction ............................................................................................ 117
2.3.2 Configuration result for Type H HSe ............................................................ 119
2.3.3 Interface description for stationary gun ....................................................... 125
2.3.4 Summary common options Type H HSe ...................................................... 128
Product specification - IRB 6700 5

3HAC044265-001 Revision: M
Table of contents
2.3.5 Summary options required for Type HSe ..................................................... 129

2.4 Type Se ........................................................................................................... 130
2.4.1 Introduction ............................................................................................ 130
2.4.2 Configuration result for Type Se ................................................................. 132
2.4.3 Summary common options for Type Se ....................................................... 144
2.5 Spot Welding cabinet ......................................................................................... 145
2.5.1 Introduction to Spot Welding cabinet .......................................................... 145
2.5.2 Interface description for spot welding cabinet ............................................... 152
2.6 Water and air unit .............................................................................................. 153
2.6.1 Introduction ............................................................................................ 153
2.6.2 Technical data ........................................................................................ 160
2.7 Connection kits ................................................................................................. 161
2.7.1 Base - Connector kits ............................................................................... 162
2.7.2 Axis 3 - Connector kits ............................................................................. 164
2.7.3 Axis 6 - Connector kits ............................................................................. 165
3 Specification of variants and options 167

3.1 Introduction to variants and options ...................................................................... 167
3.2 Manipulator ...................................................................................................... 168
3.3 Equipment ....................................................................................................... 170
3.4 Floor cables ..................................................................................................... 174
3.5 Process DressPack ........................................................................................... 175
3.6 DressPack floor cables ....................................................................................... 176
3.7 DressPack Lower and Upper arm ......................................................................... 177
3.8 Connection kits ................................................................................................. 178
3.9 Servo Gun ....................................................................................................... 179
3.10 SpotPack Floor Cables ....................................................................................... 180
3.11 Process cabinet ................................................................................................ 181
3.12 Water and air .................................................................................................... 182
3.13 User documentation .......................................................................................... 183
4 Accessories 185
4.1 Introduction to accessories ................................................................................. 185
Index 187
6 Product specification - IRB 6700

Overview of this product specification

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
Usage
Product specifications are used to find data and performance about the product,
for example to decide which product to buy. How to handle the product is described
in the product manual.
Users
It is intended for:
• Product managers and product personnel
• Sales and marketing personnel
• Order and customer service personnel
• Robot programmers
• Project leaders
• Design engineers
References
Reference Document ID
Product specification - Controller IRC5 3HAC047400-001
IRC5 with main computer DSQC1000.
Product specification - Controller software IRC5 3HAC050945-001
IRC5 with main computer DSQC1000 and RobotWare 5.6x.
Product specification - Controller software IRC5 3HAC050945-001
IRC5 with main computer DSQC1000 and RobotWare 6.
Product manual - IRB 6700 3HAC044266-001
Product manual - IRB 6700Inv 3HAC058254-001
Product specification - Robot user documentation, IRC5 with RobotWare 3HAC052355-001
6
Revisions
Revision Description
- First release
A • The variants IRB 6700-200/2.60 and IRB 6700-155/2.85 are added.
• Minor corrections/updates
Continues on next page

Continued
Revision Description
B • DressPack & SpotPack updated
C • Text for Foundry Plus updated.

• Two variants added, IRB 6700-300/2.70 and IRB 6700-245/3.00.
• Minor corrections/update
D • AbsAcc data added
• New loads for IRB 6700-300 and -245 added
• Values for power consumption, brakes engaged/disengaged added
• Tightening torque for robot adjusted
• The use of guide pins for robot base added
• Updated data (ISO, weight) for IRB 6700-200 and IRB 6700-155
E • Minor corrections/update
• Updated standard tool flange drawing
• Guide pins for base plate changed to two cylindrical
F • Information regarding warranty for upper arm dress pack added.
• Minor corrections/update
• Section SpotWelding cabinet updated.
G • Warranty information for DressPack updated.
• Dimensions (measure D), for products -150/3.20 and -205/2.80 in
table Holes for fitting extra equipment are changed from 400 mm
to 500 mm.
• Illustration in section Fastening holes robot base is updated regard-
ing guide holes.
• Illustration regarding centering diameters on tool flange updated.
H Published in release R17.1. The following updates are done in this revi-
sion:
• Illustration for Tool flange, standard is updated.
• Major structural change is made on chapter Specifications of
variants and options.
• IRB 6700Inv is added.
• Restriction of load diagram added.
• Working range axis 2 and 3 added.
J Published in release R17.2. The following updates are done in this revi-
sion:
• Updated list of applicable standards.
• Delete option 828-1, 828-2, 768-3 and 782-1 as they were all phased
out.
• 635-1,3,4,5 option phased out and replaced by 636-6.
• Type HS and S are phased out.
• 782-7, 796-1 phased out.
K Published in release R18.1. The following updates are done in this revi-
sion:
• Water and air unit updated.
L Published in release R18.2. The following updates are done in this revi-
sion:
• Customer signal wire information for Type H/HSe Ethernet updated.
M Published in release 19B. The following updates are done in this revision:
• Minor corrections/updates
• Updated information about Absolute Accuracy.

1 Description
1.1.1 Introduction
1 Description
1.1 Structure
1.1.1 Introduction
General
The IRB 6700 series is ABB Robotics 7:th generation of high payload, high
performance industrial robots. Based on the famous IRB 6640 series, with large
working range, the very high wrist torque, the service friendly modular built up and
the availability, significant for ABB’s robots, the IRB 6700 robot family goes even
further. With focus on high production capacity, compact design and low weight,
simple service and low maintenance cost. The IRB 6700 is ideal for process
applications, regardless of industry. Typical areas are for example Spot Welding,
Material Handling and Machine Tending.
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.
Process options
There are a large number of process options for Spot Welding and Material Handling
integrated in the robot. For a complete description of process options for Spot
Welding see DressPack and SpotPack on page 103.
Operating system
The robot is equipped with the IRC5 controller and robot control software,
RobotWare. RobotWare supports every aspect of the robot system, such as motion
control, development and execution of application programs, communication etc.
See Product specification - Controller IRC5 with FlexPendant.
Safety
Safety standards valid for complete robot, manipulator and controller.
Additional functionality
For additional functionality, the robot can be equipped with optional software for
application support - for example gluing and welding, communication features -
network communication - and advanced functions such as multitasking, sensor
control etc. For a complete description on optional software, see the Product
specification - Controller software IRC5.
Protection type Foundry Plus 2

Robots with the option Foundry Plus 2 are 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.

1 Description
1.1.1 Introduction
Continued
Typical applications are spraying insertion and part extraction of die-casting

machines, handling in sand casting and gravity casting, etc. (Please refer to Foundry
Prime robots for washing applications or other similar applications). 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 2 protected robot.
The 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 cause 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 water and solid
contaminants. Among other things all sensitive parts are better protected than the
standard offer.
Selected Foundry Plus 2 features:
• Improved sealing to prevent penetration into cavities to secure IP67
• Additional protection of cabling and electronics
• Special covers that protect cavities
• Well-proven connectors
• Nickel coated tool flange
• 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
according to the robot product manual. Appropriate cleaning and maintenance is
required to maintain the protection, for example can rust preventive be washed off
with wrong cleaning method.
Available robot versions

The option Foundry Plus 2 might not be available for all robot versions.
See Specification of variants and options on page 167 for robot versions and other
options not selectable together with Foundry Plus 2.

1 Description
1.1.1 Introduction
Continued
Robot axes
(D)
(E)
(C)
(F)
(B)
(A)
xx1300000244
Pos Description Pos Description

A Axis 1 B Axis 2
C Axis 3 D Axis 4
E Axis 5 F Axis 6

1 Description
1.1.2 Different robot versions
1.1.2 Different robot versions
General
The IRB 6700 is available in ten versions.
Robot types
The following standard robot versions are available.
Robot type Handling capacity (kg) Handling capacity for LeanID (kg) Reach (m)
IRB 6700 235 kg 220 kg 2.65 m
IRB 6700 205 kg 200 kg 2.80 m
IRB 6700 200 kg 175 kg 2.60 m
IRB 6700 175 kg 155 kg 3.05 m
IRB 6700 155 kg 140 kg 2.85 m
IRB 6700 150 kg 145 kg 3.20 m
IRB 6700 300 kg 270 kg 2.70 m
IRB 6700 245 kg 220 kg 3.00 m
IRB 6700Inv 300 kg 270 kg 2.60 m
IRB 6700Inv 245 kg 210 kg 2.90 m
Note
If option 780-4, LeanID is selected, the payload will decrease as stated above,
for detailed information see Load diagrams on page 35

1 Description
1.1.3 Definition of version designations
IRB 6700 mounting

Handling capacity (kg)/Reach (m)
Prefix Description
Mounting - IRB 6700: Floor-mounted manipulator
IRB 6700Inv: Inverted-mounted manipulator
Handling capacity (kg) yyy Indicates the maximum handling capacity (kg)
Reach (m) x.x Indicates the maximum reach at wrist center (m)
Manipulator weight
Robot type Weight

IRB 6700-235/2.65 1250 kg i
IRB 6700-205/2.80 1260 kg i
IRB 6700-200/2.60 1205 kg i
IRB 6700-175/3.05 1270 kg i
IRB 6700-155/2.85 1220 kg i
IRB 6700-150/3.20 1280 kg i
IRB 6700-300/2.70 1525 kg i
IRB 6700-245/3.00 1540 kg i
IRB 6700Inv-300/2.60 1690 kg i
IRB 6700Inv-245/2.90 1705 kg i
i Weight without DressPack
Other technical data
Data Description Note

Airborne noise level The sound pressure level out- < 71 dB (A) Leq (acc. to ma-
side the working space. chinery directive 2006/42/EG)
Power consumption at max load
Type of move- 235/2.65 205/2.80 200/2.60 175/3.05 155/2.85 150/3.20 300/2.70 245/3.00 Inv Inv
ment 300/2.60 245/2.90
ISO Cube 2.7 2.6 2.6 2.8 2.7 2.7 3.4 3.2 3.4 3.3
Max. velocity
(kW)
Robot in calibra- 235/2.65 205/2.80 200/2.60 175/3.05 155/2.85 150/3.20 300/2.70 245/3.00 Inv Inv
tion position 300/2.60 245/2.90
Brakes engaged 0.16 0.17 0.15 0.16 0.15 0.16 0.15 0.15 0.17 0.17
(kW)
Brakes disen- 0.71 0.84 0.62 0.82 0.69 0.77 0.79 0.75 1.06 0.99
gaged (kW)

1 Description
Continued
E1 E2
E4 E3
A
xx1000000101
Pos Description
A 1,000 mm

1 Description
Continued
Main dimensions of IRB 6700

F
G
A
200
E
D
780
377
1009
B 745 C
360
J
1009
H
360
xx1300000241
Pos Description
A 200 mm (all standard variants); except 300/2.70 and 245/3.00 =220 mm
350 mm (all LeanID variants, option 780-4); except IRB 300/2.70 and 245/3.00 =
380 mm
B Radius ax1, front = 532 mm (IRB 6700-235/2.65, -205/2.80, -175/3.05, -150/3.20,
-200/2.60 and -155/2.85)
Radius ax1, front = 600 mm (IRB 6700-300/2.70 and -245/3.00)
C Radius ax1, back = 633 mm (IRB 6700-235/2.65, -205/2.80, -175/3.05, -150/3.20,
-200/2.60 and -155/2.85)
Radius ax1, back = 700 mm (IRB 6700-300/2.70 and -245/3.00)
Robot variant D E F G H J
IRB 6700 - 235/2.65 2300 1135 1670 1,182.5 209 186
IRB 6700 - 205/2.80 2445 1280 1670 1,182.5 186 209
IRB 6700 - 200/2.60 2276 1125 1623 1,142.5 197.5 193
IRB 6700 - 175/3.05 2300 1135 2080 1,592.5 209 186
IRB 6700 - 150/3.20 2445 1280 2080 1,592.5 209 186
IRB 6700 - 155/2.85 2276 1125 1873 1,392.5 197.5 193

1 Description
Continued
IRB 6700 - 300/2.70 2321 1145 1718.5 1212.5 222.5 187
IRB 6700 - 245/3.00 2321 1145 1968.5 1462.5 222.5 186
Note
For DressPack dimensions, see Dimensions for robot with DressPack on page 116

1 Description
Continued
Main dimensions of IRB 6700Inv

F
G
A
200
E
D
830
377
1009
B
C
360
J
1009
H
360
xx1700000559
Pos Description
A 220 mm (all IRB 6700Inv variants)
380 mm (all IRB 6700Inv LeanID variants, option 780-4)
B Radius ax1, front = 626 mm
C Radius ax1, back = 910 mm
IRB 6700Inv - 300/2.60 2372 1145 1718.5 1212.5 222.5 187
IRB 6700Inv - 245/2.90 2372 1145 1968.5 1468.5 222.5 186

1 Description
1.2.1 Applicable standards
1.2 Standards
Note
The listed standards are valid at the time of the release of this document. Phased
out or replaced standards are removed from the list when needed.
Standards, EN ISO
The product is designed in accordance with the requirements of:
Standard Description
EN ISO 12100:2010 Safety of machinery - General principles for design - Risk as-
sessment and risk reduction
EN ISO 13849-1:2015 Safety of machinery, safety related parts of control systems -
Part 1: General principles for design
EN ISO 13850:2015 Safety of machinery - Emergency stop - Principles for design
EN ISO 10218-1:2011 Robots for industrial environments - Safety requirements -Part
1 Robot
ISO 9787:2013 Robots and robotic devices -- Coordinate systems and motion
nomenclatures
ISO 9283:1998 Manipulating industrial robots, performance criteria, and related
test methods
EN ISO 14644-1:2015 i Classification of air cleanliness
EN ISO 13732-1:2008 Ergonomics of the thermal environment - Part 1
EN 61000-6-4:2007 + EMC, Generic emission
A1:2011
IEC 61000-6-4:2006 +
A1:2010
(option 129-1)
EN 61000-6-2:2005 EMC, Generic immunity
IEC 61000-6-2:2005
EN IEC 60974-1:2012 ii Arc welding equipment - Part 1: Welding power sources
EN IEC 60974-10:2014 ii Arc welding equipment - Part 10: EMC requirements
EN IEC 60204-1:2006 Safety of machinery - Electrical equipment of machines - Part
1 General requirements
IEC 60529:1989 + A2:2013 Degrees of protection provided by enclosures (IP code)
i Only robots with protection Clean Room.
ii Only valid for arc welding robots. Replaces EN IEC 61000-6-4 for arc welding robots.
European standards
EN 614-1:2006 + A1:2009 Safety of machinery - Ergonomic design principles - Part 1:
Terminology and general principles

1 Description
Continued
EN 574:1996 + A1:2008 Safety of machinery - Two-hand control devices - Functional
aspects - Principles for design
Other standards
ANSI/RIA R15.06 Safety requirements for industrial robots and robot systems
ANSI/UL 1740 Safety standard for robots and robotic equipment
CAN/CSA Z 434-14 Industrial robots and robot Systems - General safety require-
ments

1 Description
1.3.1 Introduction to installation
1.3 Installation
1.3.1 Introduction to installation
General
IRB 6700 are designed for floor mounting (no tilting allowed around X-axis or
Y-axis). IRB 6700Inv are designed for inverted mounting (no tilting allowed around
X-axis or Y-axis).Depending on the robot version, an end effector with max. weight
of 150 to 300 kg including payload, can be mounted on the tool flange (axis 6). See
Load diagrams on page 35.
Extra loads
Extra load (valve packages, transformers, DressPack) of 50 kg, which is included
in the load diagrams, can be mounted on the upper arm. An extra load of 250 kg
can also be mounted on the frame of axis 1.
See Fitting equipment to the robot on page 70.
Working range limitation

The working range of axes 1 can be limited by mechanical stops as option. See
Working range limitation on page 172.

1 Description
1.3.2 Operating requirements
1.3.2 Operating requirements
Protection standards
Robot version/Protection standard IEC 60529

All variants, manipulator IP67
Explosive environments
The robot must not be located or operated in an explosive environment.
Ambient temperature
Description Standard/Option Temperature

Manipulator during operation Standard Minimum: +5°C i (41°F)
Maximum: +50°C (122°F)
For the controller Standard/Option See Product specification - Control-
ler IRC5
For the spot welding cabinet Standard + 5°C (41°F) to + 45°C (113°F)
Complete robot during transporta- Standard Minimum: -25°C (-13°F)
tion and storage, Maximum: +55°C (+131°F)
for short periods (not exceeding Standard +70°C (+158°F)
24 hours)
i At low environmental temperature (below 10° C) a warm-up phase is recommended to be run with
the robot. Otherwise there is a risk that the robot stops or runs with lower performance due to
temperature dependent oil and grease viscosity.
Relative humidity
Description Relative humidity

Complete robot during transportation and storage Maximum 95% at constant temper-
ature.
Complete robot during operation Maximum 95% at constant temper-
ature.

1 Description
1.3.3 Assembling the manipulator
Maximum load
Maximum load in relation to the base coordinate system.
Floor mounted
Force Endurance load (in operation) Max. load (emergency stop)

Force xy ±7.4 kN i / ±8.7 kN ii ±19.8 kN i / ±21.8 kN ii
Force z 14.6 ±4.5 kN i / 18.0 ±5.4 kN ii 14.6 ±15.7 kN i / 18.0 ±17.4 kN ii
Torque xy ±21.0 kNm i / ±24.9 kNm ii ±37.1 kNm i / ±45.3 kNm ii
Torque z ±5.0 kNm i / ±6.5 kNm ii ±11.4 kNm i / ±15.5 kNm ii
i Valid for IRB 6700-235, -205, -175, -150, -200, -155.
ii Valid for IRB 6700-300, -245.
Inverted Mounted
Force Endurance load (in operation) Max. load (emergency stop)

Force xy ±8.9 kN i ±23.7 kN i
Force z -22.1 ±6.6 kN i -22.1 ± 18.1 kN i
Torque xy ±22.5 kNm i ±45.4 kNm i
Torque z ±6.5 kNm i ±15.7 kNm i
i Valid for IRB 6700Inv-300, -245.
xx1300000242

1 Description
Continued
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).
Fastening holes robot base - for all variants

0,3 A
8x
8x 53
,5
49
30
16
8x
2x
8)
H
45
24
25
,5
3x
(
4x
20
2 x4
5°
4x 45 H7
0,12 2x 25 H8
0,12
D-D
4x 90° E-E
(A)
4x
800
15
°
D
52,
5°
D
E
(A)
E
xx1300000243
Pos Description
A Holes for guide pins (x2)
Note
Holes for guide pins (x2) Rear hole straight slot, see Guide pins on page 28.

1 Description
Continued
Fastener quality
Suitable screws: M24 x 100 (installation on base

plate/foundation)
Quality: 8.8
Screw tightening yield point utilization factor (v) 90% (v=0.9)
(according to VDI2230):
Suitable washer: 4 mm flat washer
Tightening torque: 550 Nm (screws lubricated with Molykote
1000)
600-725 Nm, typical 650 Nm (screws none
or lightly lubricated)
Note
Only two guide pins shall be used. The corresponding holes in the base plate
shall be circular according to figure Base plate drawing on page 25.
AbsAcc performance
Regarding AbsAcc performance, the use of guide pins are mandatory.

1 Description
Continued
Base plate drawing
Note
IRB 6700Inv is not valid for base plate.

The following figure shows the option base plate (dimensions in mm).
540
453
87
0 G H
(A)
B
D
D
800
12x M 24
B 1 A B
90°
10
4x 9
°
Ref A-B
3x 25
0°
448
90°
°
37,5
475
(B)
10°
A
°
7,5
A
2x
E
°
15
°
4x
25
4x
0
27
C C
F E
7)
(H
±1
±1
A
2x
20
18
1x
2x
45
+0,018 3x
1,6
2x 12H7 0 4 P7 -0,017
5 45 -0,042
0,1 A B 1,5
2
0,2 Common Zone E, F, G, H

M
5
±1
E-E A-A
13
32
48
4x
xx1500000246
Pos Description
A, B Hole for guide pin, cylindrical, see Guide pins on page 28
E, F, G, H Common tolerance zone (accuracy all over the base plate from one contact
surface to the other)

1 Description
Continued
B
23 47 +0
,5 0 ,5
,01 7
- 0 0,00
8
+
45 K7
1,6
3x
45
13
°
37,5
48
CL 2x R22,5 B-B
2x
R
D
3x 90°
3x
4
3x
R1
C-C
xx1500000247

1 Description
Continued
2x 271
2x 774
87
69
5x M16
0
16x 22
923 ±1
878 896
855
786 773
721
538
( 950)
448
358
175
110 123
18 41 +3
-1
0 0 50
27±1
27
2x206
2x363
2x 543
2x726
2x 860
2x 904
87±1
933 ±1
50
0
(1020)
2x 119,9
2x 278,3
2x132,8
2x224,1
87
0
50x45° (2x)
25
R5
2x
804 813,9
784,6 784,8
697,2 680,1
681,9 672,5
2x 598
4x 18
16x R 50
2x 298
214,1 223,5
198,8 215,9
111,4 111,2
92 82,1
0 0
27 27
2x203
2x703
619
677
794
787,6
87
xx1500000249
A Color: RAL 9005

Thickness: 80-100 µm
Weight: 360 kg

1 Description
Continued
Guide pins
25g6
(A)
15
18
12k6
XX1500000248
Pos Description
A Cylindrical guide pin (x2)
Assembly of guide pins

(A)
800
(A)
(B)
B-B
B B
Pos Description
A Cylindrical guide pin (x2)
B M5 x 40. Tightening torque 6 Nm. (x2)
Note
All screws and pins are delivered in a plastic bag together with the base plate.

1 Description
1.4.1 Calibration methods
1.4 Calibration and references
Overview
This section specifies the different types of calibration and the calibration methods
that are supplied by ABB.
More information is available in the product manual.
Types of calibration
Type of calibration Description Calibration method

Standard calibration The calibrated robot is positioned at calibration Axis Calibration or Cal-
position. ibration Pendulum i
Standard calibration data is found on the SMB
(serial measurement board) or EIB in the robot.
For robots with RobotWare 5.04 or older, the
calibration data is delivered in a file, calib.cfg,
supplied with the robot at delivery. The file
identifies the correct resolver/motor position
corresponding to the robot home position.
Absolute accuracy Based on standard calibration, and besides CalibWare
calibration (option- positioning the robot at synchronization posi-
al) tion, the Absolute accuracy calibration also
compensates for:
• Mechanical tolerances in the robot
structure
• Deflection due to load
Absolute accuracy calibration focuses on pos-
itioning accuracy in the Cartesian coordinate
system for the robot.
Absolute accuracy calibration data is found
on the SMB (serial measurement board) in the
robot.
For robots with RobotWare 5.05 or older, the
absolute accuracy calibration data is delivered
in a file, absacc.cfg, supplied with the robot at
delivery. The file replaces the calib.cfg file and
identifies motor positions as well as absolute
accuracy compensation parameters.
A robot calibrated with Absolute accuracy has
a sticker next to the identification plate of the
robot.
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
i The robot is calibrated by either Calibration Pendulum or Axis Calibration at factory. Always use
the same calibration method as used at the factory.

1 Description
Continued
Information about valid calibration method is found on the calibration label or in the calibration
menu on the FlexPendant.
If no data is found related to standard calibration, Calibration Pendulum is used as default.
Brief description of calibration methods

Calibration Pendulum method
Calibration Pendulum is a standard calibration method for calibration of all ABB
robots (except IRB 6400R, IRB 640, IRB 1400H, and IRB 4400S).
Two different routines are available for the Calibration Pendulum method:
• Calibration Pendulum II
• Reference calibration
The calibration equipment for Calibration Pendulum is delivered as a complete
toolkit, including the Operating manual - Calibration Pendulum, which describes
the method and the different routines further.
Axis Calibration method

Axis Calibration is a standard calibration method for calibration of IRB 6700 and
is the most accurate method for the standard calibration. It is the recommended
method in order to achieve proper performance.
The following routines are available for the Axis Calibration method:
• Fine calibration
• Update revolution counters
• Reference calibration
The calibration equipment for Axis Calibration is delivered as a toolkit.
The actual instructions of how to perform the calibration procedure and what to
do at each step is given on the FlexPendant. You will be guided through the
calibration procedure, step by step.
CalibWare - Absolute Accuracy calibration

The CalibWare tool guides through the calibration process and calculates new
compensation parameters. This is further detailed in the Application
manual - CalibWare Field.
If a service operation is done to a robot with the option Absolute Accuracy, a new
absolute accuracy calibration is required in order to establish full performance.
For most cases after replacements that do not include taking apart the robot
structure, standard calibration is sufficient.

1 Description
1.4.2 Fine calibration
1.4.2 Fine calibration
General
Fine calibration is made using the Calibration Pendulum, see Operating
manual - Calibration Pendulum or Axis calibration, see Product manual - IRB 6700
and Product manual - IRB 6700Inv.
(D)
(E)
(C)
(F)
(B)
(A)
xx1300000244
Axes

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
1.4.3 Absolute Accuracy calibration
Note
IRB 6700INV is valid for field AbsAcc but does not have an AbsAcc option.
Purpose
Absolute Accuracy is a calibration concept that improves TCP accuracy. The
difference between an ideal robot and a real robot can be several millimeters,
resulting from mechanical tolerances and deflection in the robot structure. Absolute
Accuracy compensates for these differences.
Here are some examples of when this accuracy is important:
• Exchangeability of robots
• Offline programming with non or minimum touch-up
• Online programming with accurate movement and reorientation of tool
• Accurate cell alignment for MultiMove coordinated motion
• Programming with accurate offset movement in relation to eg. vision system
or offset programming
• Re-use of programs between applications
The option Absolute Accuracy is integrated in the controller algorithms and does
not need external equipment or calculation.
Note
The performance data is applicable to the corresponding RobotWare version of

the individual robot.
xx1300002177
What is included
Every Absolute Accuracy robot is delivered with:
• compensation parameters saved on the robot’s serial measurement board
1 Description
Continued
• a birth certificate representing the Absolute Accuracy measurement protocol

for the calibration and verification sequence.
A robot with Absolute Accuracy calibration is marked on the manipulator.
Absolute Accuracy supports both floor mounted and inverted installations. The
compensation parameters differ depending on if the robot is floor mounted or
inverted.
When is Absolute Accuracy being used

Absolute Accuracy works on a robot target in Cartesian coordinates, not on the
individual joints. Therefore, joint based movements (e.g. MoveAbsJ) will not be
affected.
If the robot is inverted, the Absolute Accuracy calibration must be performed when
the robot is inverted.
Absolute Accuracy active

Absolute Accuracy will be active in the following cases:
• Any motion function based on robtargets (e.g. MoveL) and ModPos on
robtargets
• Reorientation jogging
• Linear jogging
• Tool definition (4, 5, 6 point tool definition, room fixed TCP, stationary tool)
• Work object definition
Absolute Accuracy not active

The following are examples of when Absolute Accuracy is not active:
• Any motion function based on a jointtarget (MoveAbsJ)
• Independent joint
• Joint based jogging
• Additional axes
• Track motion
Note
In a robot system with, for example, an additional axis or track motion, the
Absolute Accuracy is active for the manipulator but not for the additional axis or
track motion.
RAPID instructions
There are no RAPID instructions included in this option.

1 Description
Continued
MultiMove
If the main robot in a MultiMove system has the Absolute Accuracy option, it opens
up Absolute Accuracy capability for all the robots in the system. However, each
robot needs to be calibrated individually.
Note
Note that this is the only RobotWare option that is relevant for an additional robot.
Note
It is possible to mix robots with and without the option Absolute Accuracy
arbitrarily in a MultiMove system.
Production data
Typical production data regarding calibration are:
Robot Positioning accuracy (mm)
Average Max % Within 1 mm
IRB 6700 (all variants 0.35 0.75 100
except LeanID)
IRB 6700 LeanID (all 0.40 0.85 100
variants)

1 Description
1.5.1 Introduction
1.5 Load diagrams
1.5.1 Introduction
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 the service routine LoadIdentify is available, which allows
the user to make an automatic definition of the tool and load, to determine correct
load parameters.
See Operating manual - IRC5 with FlexPendant, 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 15 kgm 2 , and an extra
load of 50 kg at the upper arm housing.
At different moment of inertia the load diagram will be changed. For robots that
are allowed tilted, wall or inverted mounted, the load diagrams as given are valid
and thus it is also possible to use RobotLoad within those tilt and axis limits.
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.
There is no warning if the maximum permitted armload is exceeded. For over load
cases and special applications, contact ABB for further analysis.

1 Description
1.5.2 Diagrams
1.5.2 Diagrams
IRB 6700-235/2.65
0,80
0,70
120 kg
0,60 140 kg
165 kg
0,50
Z - (m)
190 kg
0,40
225 kg
230 kg
0,30
235 kg
240 kg
0,20
245 kg
0,10
0,00
200 mm
0,10 0,20 0,30 0,40 0,50

L - (m)
xx1300000245

1 Description
1.5.2 Diagrams
Continued
IRB 6700-235/2.65 "Vertical Wrist" (±10 o )
o o
10 10
200 mm
Z
L - (m)
0,10 0,20 0,30 0,40 0,50 0,60 0,70
0,00
0,10
275 kg
0,20
265 kg
250 kg
0,30
Z - (m)
235 kg 210 kg
0,40
0,50
0,60
0,70
xx1300000246
For wrist down (0 o deviation from the vertical line).
Description
Max load 280 kg
Zmax 0.327 m
Lmax 0.100 m

1 Description
1.5.2 Diagrams
Continued
IRB 6700-235/2.65 "LeanID", option 780-4

0,80
0,70
110 kg
0,60
130 kg
0,50
150 kg
Z - (m)
175 kg
0,40
200 kg
0,30
220 kg
225 kg
0,20
230 kg
0,10
0,00
0,10 0,20 0,30 0,40 0,50 0,60
350 mm
L - (m)
xx1300000248

1 Description
1.5.2 Diagrams
Continued
IRB 6700-205/2.80
0,90
0,80 100 kg
0,70
125 kg
0,60
150 kg
0,50
175 kg
Z - (m)
195 kg
0,40
200 kg
0,30
205 kg
210 kg
0,20
215 kg
0,10
0,00
200 mm
0,10 0,20 0,30 0,40 0,50 0,60

L - (m)
xx1300000249

1 Description
1.5.2 Diagrams
Continued
o o
10 10
200 mm
L - (m) Z
0,10 0,20 0,30 0,40 0,50 0,60 0,70

0,00
0,10
235 kg
0,20 225 kg
215 kg
0,30
Z - (m)
205 kg
195 kg
0,40
0,50
0,60
0,70
xx1300000250
Description
Max load 240 kg
Zmax 0.355 m
Lmax 0.103 m

1 Description
1.5.2 Diagrams
Continued

0,90
0,80
90 kg
0,70
110 kg
0,60
130 kg
0,50
Z - (m)
150 kg
0,40 175 kg
190 kg
0,30 195 kg
200 kg
0,20
205 kg
0,10
0,00
0,10 0,20 0,30 0,40 0,50 0,60
L - (m)
350 mm
xx1300000251

1 Description
1.5.2 Diagrams
Continued
IRB 6700-200/2.60
0,80
0,70
90 kg
0,60
110 kg
0,50
130 kg
Z - (m)
0,40 155 kg
180 kg
0,30
200 kg
205 kg
0,20
210 kg
0,10
0,00
200 mm
0,10 0,20 0,30 0,40 0,50

L - (m)
xx1300000333

1 Description
1.5.2 Diagrams
Continued
o o
10 10
200 mm
L - (m) Z
0,10 0,20 0,30 0,40 0,50 0,60 0,70 0,80 0,90

0,00
0,10
235 kg
0,20
220 kg
205 kg
0,30
160 kg
Z - (m)
0,40
120 kg
0,50
0,60
0,70
0,80
0,90
xx1300000334
Description
Max load 242 kg
Zmax 0.27 m
Lmax 0.104 m

1 Description
1.5.2 Diagrams
Continued

0,70
100 kg
0,60
120 kg
0,50
140 kg
Z - (m)
0,40
160 kg
0,30
175 kg
185 kg
0,20
190 kg
0,10
0,10 0,20 0,30 0,40 0,50
L - (m)
350 mm
xx1300000335

1 Description
1.5.2 Diagrams
Continued
IRB 6700-175/3.05
0,90
0,80
100 kg
0,70
125 kg
0,60
150 kg
Z - (m)
0,50
160 kg
0,40
165 kg
170 kg
0,30
175 kg
0,20
180 kg
0,10
0,00
200 mm
0,10 0,20 0,30 0,40 0,50 0,60

L - (m)
xx1300000252

1 Description
1.5.2 Diagrams
Continued
o o
10 10
L - (m)
200 mm
0,10 0,20 0,30 0,40 0,50 0,60 0,70 0,80 0,90

0,00
0,10
200 kg
0,20
190 kg
0,30
180 kg
Z - (m)
0,40
165 kg
0,50
140 kg
0,60
0,70
0,80
0,90
xx1300000253
Description
Max load 204 kg
Zmax 0.360 m
Lmax 0.101 m

1 Description
1.5.2 Diagrams
Continued

0,90
0,80
85 kg
0,70
100 kg
0,60
120 kg
0,50
Z - (m)
140 kg
0,40 145 kg
150 kg
0,30
155 kg
0,20
160 kg
0,10
0,00
0,10 0,20 0,30 0,40 0,50 0,60 0,70
350 mm
L - (m)
xx1300000254

1 Description
1.5.2 Diagrams
Continued
IRB 6700-155/2.85
0,80
0,70
90 kg
0,60
105 kg
0,50 125 kg
Z - (m)
145 kg
0,40
150 kg
0,30
155 kg
0,20 160 kg
0,10
0,00
200 mm
0,10 0,20 0,30 0,40 0,50

L - (m)
xx1300000336

1 Description
1.5.2 Diagrams
Continued
o o
10 10
200 mm
L - (m) Z
0,10 0,20 0,30 0,40 0,50 0,60 0,70 0,80

0,00
0,10
180 kg
0,20
170 kg
0,30
160 kg
Z - (m)
150 kg
0,40
130 kg
0,50
0,60
0,70
0,80
xx1300000337
Description
Max load 186 kg
Zmax 0.327 m
Lmax 0.101 m

1 Description
1.5.2 Diagrams
Continued

0,90
0,80
80 kg
0,70
0,60 100 kg
0,50
120 kg
Z - (m)
130 kg
0,40
135 kg
0,30
140 kg
0,20
145 kg
0,10
0,00
0,10 0,20 0,30 0,40 0,50
L - (m)
350 mm
xx1300000338

1 Description
1.5.2 Diagrams
Continued
IRB 6700-150/3.20
1,10
1,00
80 kg
0,90
0,80
100 kg
0,70
120 kg
0,60
140 kg
Z - (m)
0,50
145 kg
0,40
0,30 150 kg
0,20 155 kg
0,10
0,00
200 mm
0,10 0,20 0,30 0,40 0,50 0,60 0,70
L - (m)
xx1300000255

1 Description
1.5.2 Diagrams
Continued
o o
10 10
200 mm
L - (m)
Z
0,10 0,20 0,30 0,40 0,50 0,60 0,70 0,80 0,90 1,00 1,10
0,00
0,10
170 kg
0,20
160 kg
0,30
150 kg
0,40
140 kg
Z - (m)
0,50
110 kg
0,60
0,70
0,80
0,90
1,00
1,10
xx1300000256
Description
Max load 177 kg
Zmax 0.394 m
Lmax 0.106 m

1 Description
1.5.2 Diagrams
Continued

1,10
1,00
70 kg
0,90
0,80
90 kg
0,70
110 kg
Z - (m)
0,60
130 kg
0,50
135 kg
0,40
140 kg
0,30
0,20 145 kg
0,10
0,00
0,10 0,20 0,30 0,40 0,50 0,60 0,70 0,80
350 mm
L - (m)
xx1300000257

1 Description
1.5.2 Diagrams
Continued
IRB 6700-300/2.70
0,90
0,80
150 kg
0,70
175 kg
0,60 200 kg
230 kg
0,50
Z - (m)
270 kg
0,40
290 kg
0,30
300 kg
0,20 310 kg
0,10
0,00
0,10 0,20 0,30 0,40 0,50 0,60
220 mm
L - (m)
xx1400002044

1 Description
1.5.2 Diagrams
Continued
o o
10 10
L - (m)
220 mm
0,10 0,20 0,30 0,40 0,50 0,60 0,70 0,80

0,00
0,10
350 kg
330 kg
0,20 310 kg
0,30
Z - (m)
290 kg
0,40
250 kg
0,50
0,60
0,70
0,80
xx1400002045
Description
Max load 357 kg
Zmax 0.308 m
Lmax 0.102 m

1 Description
1.5.2 Diagrams
Continued

0,80
0,70
140 kg
0,60
165 kg
0,50
190 kg
Z - (m)
0,40
220 kg
250 kg
0,30
270 kg
280 kg 275 kg
0,20 285 kg
290 kg
0,10
0,00
0,10 0,20 0,30 0,40 0,50 0,60
380 mm
L - (m)
xx1400002046

1 Description
1.5.2 Diagrams
Continued
IRB 6700-245/3.00
1,00
0,90
140 kg
0,80
0,70 170 kg
0,60
210 kg
Z - (m)
0,50
225 kg
0,40
235 kg
0,30
245 kg
0,20 250 kg
255 kg
0,10
0,00
0,10 0,20 0,30 0,40 0,50 0,60
220 mm
L - (m)
xx1400002041

1 Description
1.5.2 Diagrams
Continued
o o
10 10
220 mm
Z
L - (m)
0,10 0,20 0,30 0,40 0,50 0,60 0,70 0,80 0,90 1,00 1,10 1,20
0,00
0,10
270 kg
0,20
250 kg 225 kg
0,30
0,40 185 kg
0,50
Z - (m)
0,60 150 kg
0,70
0,80
0,90
1,00
1,10
1,20
xx1400002042
Description
Max load 315 kg
Zmax 0.280 m
Lmax 0.102 m

1 Description
1.5.2 Diagrams
Continued

0,90
0,80
130 kg
0,70
150 kg
0,60
170 kg
Z - (m)
190 kg
0,50
205 kg
0,40 210 kg
215 kg
0,30 220 kg
225 kg
0,20
230 kg
0,10
0,00
0,10 0,20 0,30 0,40 0,50 0,60
380 mm
L - (m)
xx1400002043

1 Description
1.5.2 Diagrams
Continued
IRB 6700Inv-300/2.60
1.00
0.90
0.80 140 kg
0.70
170 kg
0.60
200 kg
Z - (m)
0.50 230 kg
270 kg
0.40
290 kg
0.30
300 kg
0.20
310 kg
0.10
0.00
0.10 0.20 0.30 0.40 0.50 0.60
220 mm
L - (m)
xx1600002017

1 Description
1.5.2 Diagrams
Continued
IRB 6700Inv-300/2.60 "Vertical Wrist" (±10 o )
o o
10 10
Z
220 mm
L - (m)
0.10 0.20 0.30 0.40 0.50 0.60 0.70 0.80
0.00
0.10
340 kg
325 kg
0.20
310 kg
0.30
Z - (m)
290 kg
0.40 250 kg
0.50
0.60
0.70
0.80
xx1600002018
Description
Max load 352 kg
Zmax 0.332 m
Lmax 0.105 m

1 Description
1.5.2 Diagrams
Continued
IRB 6700Inv-270/2.60 "LeanID", option 780-4

0.80
0.70
150 kg
0.60
170 kg
0.50
190 kg
Z - (m)
0.40
220 kg
250 kg
0.30
270 kg
0.20 275 kg
280 kg
0.10
0.00
0.10 0.20 0.30 0.40 0.50 0.60
380 mm
L - (m)
xx1600002050

1 Description
1.5.2 Diagrams
Continued
IRB 6700Inv-245/2.90
0.90
0.80
150 kg
0.70
180 kg
0.60
210 kg
Z - (m)
0.50
225 kg
0.40
235 kg
0.30
245 kg
0.20
250 kg
255 kg
0.10
0.00
220 mm
0.10 0.20 0.30 0.40 0.50 0.60
L - (m)
xx1600002019

1 Description
1.5.2 Diagrams
Continued
IRB 6700Inv-245/2.90 "Vertical Wrist" (±10 o )
o o
10 10
220 mm
L - (m)
Z
0.10 0.20 0.30 0.40 0.50 0.60 0.70 0.80 0.90 1.00 1.10
0.00
0.10
275 kg
0.20 255 kg
0.30 235 kg
0.40 200 kg
Z - (m)
0.50 160 kg
0.60
0.70
0.80
0.90
1.00
1.10
xx1600002020
Description
Max load 284 kg
Zmax 0.345 m
Lmax 0.101 m

1 Description
1.5.2 Diagrams
Continued
IRB 6700Inv-210/2.90 "LeanID", option 780-4

0.90
0.80 120 kg
0.70
150 kg
0.60
180 kg
Z - (m)
0.50
190 kg
0.40
200 kg
0.30
210 kg
0.20 215 kg
220 kg
0.10
0.00
0.10 0.20 0.30 0.40 0.50 0.60 0.70
380 mm
L - (m)
xx1600002051

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
Note
Total load given as: mass in kg, center of gravity (Z and L) in meters and moment
of inertia (Jox, Joy, Joz ) in kgm 2 . L= sqr (X 2 + Y 2 ), see the following figure.
Full movement of axis 5 (±130 o )
Axis Robot type Maximum moment of inertia

5 IRB 6700-235/2.65 Ja5 = Load x ((Z + 0,200 i ) 2 + L 2 ) + max (J0x, J0y) ≤ 250 kgm 2
IRB 6700-205/2.80
IRB 6700-175/3.05
IRB 6700-150/3.20
IRB 6700-200/2.60 Ja5 = Load x ((Z + 0,200 i ) 2 + L 2 ) + max (J0x, J0y) ≤ 195 kgm 2
IRB 6700-155/2.85
IRB 6700-300/2.70 Ja5 = Load x ((Z + 0,220 ii ) 2 + L 2 ) + max (J0x, J0y) ≤ 325 kgm 2
IRB 6700-245/3.00
IRB 6700Inv-300/2.60
IRB 6700Inv-245/2.90
6 IRB 6700-235/2.65 Ja6 = Load x L 2 + J0Z ≤ 185 kgm 2
IRB 6700-205/2.80
IRB 6700-175/3.05
IRB 6700-150/3.20
IRB 6700-200/2.60 Ja6 = Load x L 2 + J0Z ≤ 145 kgm 2
IRB 6700-155/2.85
IRB 6700-245/3.00
IRB 6700Inv-300/2.60
IRB 6700Inv-245/2.90
i For option 780-4, LeanID = 0,350 m
ii For option 780-4, LeanID = 0,380 m
xx1400002028
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 inertia

5 IRB 6700-235/2.65 Ja5 = Load x ((Z + 0,200 i ) 2 + L 2 ) + max (J0x, J0y) ≤ 275 kgm 2
IRB 6700-205/2.80
IRB 6700-175/3.05
IRB 6700-150/3.20
IRB 6700-200/2.60 Ja5 = Load x ((Z + 0,200 i ) 2 + L 2 ) + max (J0x, J0y) ≤ 215 kgm 2
IRB 6700-155/2.85
IRB 6700-300/2.70 Ja5 = Load x ((Z + 0,220 ii ) 2 + L 2 ) + max (J0x, J0y) ≤ 360 kgm 2
IRB 6700-245/3.00
IRB 6700Inv-300/2.60
IRB 6700Inv-245/2.90
6 IRB 6700-235/2.65 Ja6 = Load x L 2 + J0Z ≤ 250 kgm 2
IRB 6700-205/2.80
IRB 6700-175/3.05
IRB 6700-150/3.20
IRB 6700-155/2.85
IRB 6700-300/2.70 Ja6 = Load x L 2 + J0Z ≤ 320 kgm
IRB 6700-245/3.00
IRB 6700Inv-300/2.60
IRB 6700Inv-245/2.90
i For option 780-4, LeanID = 0,350 m
ii For option 780-4, LeanID = 0,380 m
xx1400002029
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
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, use the ABB RobotLoad. Contact your local ABB organization.
Torque
The table below shows the maximum permissible torque due to payload.
Robot type Max wrist torque Max wrist torque Max torque valid at
axis 4 and 5 axis 6 load
IRB 6700-235/2.65 1324 Nm 650 Nm 225 kg
IRB 6700-205/2.80 1263 Nm 625 Nm 192 kg
IRB 6700-200/2.60 981 Nm 429 Nm 175 kg
IRB 6700-175/3.05 1179 Nm 589 Nm 154 kg
IRB 6700-155/2.85 927 Nm 410 Nm 144 kg
IRB 6700-150/3.20 1135 Nm 570 Nm 137 kg
IRB 6700-300/2.70 1825 Nm 865 Nm 280 kg
IRB 6700-245/3.00 1693 Nm 815 Nm 214 kg
IRB 6700Inv-300/2.60 1,825 Nm 865 Nm 280 kg
IRB6700Inv-245/2.90 1,645 Nm 796 Nm 194 kg

1 Description
1.5.5 Maximum TCP acceleration
1.5.5 Maximum TCP acceleration
General
Higher values can be reached with lower loads than the nominal because of our
dynamical motion control QuickMove2. For specific values in the unique customer
cycle, or for robots not listed in the table below, we recommend then to use
RobotStudio.
Maximum Cartesian design acceleration for nominal loads
Robot type E-stop Controlled Motion

Max acceleration at nominal Max acceleration at nominal load
load COG [m/s 2 ] COG [m/s 2 ]
IRB 6700 - 235/2.65 41 22
IRB 6700 - 205/2.8 45 24
IRB 6700 - 175/3.05 42 25
IRB 6700 - 150/3.2 47 24
IRB 6700 - 200/2.6 51 23
IRB 6700 - 155/2.85 47 29
IRB 6700 - 300/2.7 39 21
IRB 6700 - 245/3.0 44 27
Note
Acceleration levels for E-stop and controlled motion includes acceleration due
to gravitational forces. Nominal load is define with nominal mass and cog with
max offset in Z and L (see load diagram).

1 Description
1.6 Fitting equipment to the robot
General
Extra loads can be fitted on the upper arm housing, the lower arm, and on the
frame. Definitions of distances and masses are shown in the following figures. The
robot is supplied with holes for fitting extra equipment (see figure in Holes for fitting
extra equipment on page 73). Maximum allowed arm load depends on center of
gravity of arm load and robot payload.
Note
All equipment and cables used on the robot, must be designed and fitted not to
damage the robot and/or its parts.
Frame (hip load)

Extra load can be fitted on the frame.
Description
Permitted extra load on frame JH = 100 kgm 2
Recommended position (see the fol- JH = JH0 + M4 x R 2
lowing figure) where:
• JH0 is the moment of inertia of the equipment
• R is the radius (m) from the center of axis 1
• M4 is the total mass (kg) of the equipment
including bracket and harness (≤ 250 kg)

1 Description
Continued
xx1300000262
Upper arm
Allowed extra load on the upper arm housing, in addition to the maximum handling
weight, is M1 ≤ 50 kg with a distance (a) ≤ 500 mm from the center of gravity in the
axis-3 extension.
M1
a
(A)
M1
xx1400002019
A Mass center

1 Description
Continued
(A)
400
200
xx1300000866
A Center of gravity 50 kg

1 Description
Continued
Holes for fitting extra equipment

Position of attachment holes - drawing 1
E G H
H J
A K
(150)
(109) (2x M12) 12
(150)
(2x M12)
J
D A
H 160
3x M10
C
40
80 0,3
197
80
190
CL Axis 5 90
4x M12 22 B
2x M8 16 100
J M12 19
106 (4x M12 22)
328
K
B 53
CL Axis 3
110 2x M12 19 L
220 B
K
CL Axis 4
M12 20
13
8
M
R117
4x
52, 5 °
5° 52, (M12 19) (2x M12 19)
N M
A-A B-B
xx1300000263
A Allowed position for attachment holes, M12 through. Be careful not to touch the cables when drilling.

1 Description
Continued
Variant Bi C D E F G H J K L M N
IRB 6700 - 235/2.65 R=216 270 400 652.5 365 437 349 147 33 102 104 210
IRB 6700 - 205/2.80 R=216 270 500 652.5 365 437 349 147 33 102 104 210
IRB 6700 - 175/3.05 R=216 270 400 652.5 365 437 349 147 33 102 104 210
IRB 6700 - 150/3.20 R=216 270 500 652.5 365 437 349 147 33 102 104 210
IRB 6700 - 200/2.60 R=204.5 270 400 650.5 365 437 315 143 43 102 95 210
IRB 6700 - 155/2.85 R=204.5 270 400 650.5 365 437 315 143 43 102 95 210
IRB 6700 - 300/2.70 R=230 310 450 652.5 376 467 405 152 12 117 98.5 215.5
IRB 6700 - 245/3.00 R=230 310 450 652.5 376 467 405 152 12 117 98.5 215.5
IRB 6700Inv - 300/2.60 R=230 310 450 652.5 425.6 467 405 152 12 117 98.5 215.5
IRB 6700Inv - 245/2.90 R=230 310 450 652.5 425.6 467 405 152 12 117 98.5 215.5
i Smallest circumscribed radius axis-4.

1 Description
Continued
Position of attachment holes - drawing 2

B
C C
CL Axis 4
CL Axis 3 H
(2x M8)
B 2x M8
265
30 D
465
(M8) M8
C
(2x M8)
2x M8 E
D CL Axis 2
50 33
4x M10 20
60
L
(4x M10 20) CL Axis 1

456
50 J
25
377
K F G
(2x M8)
(2x M8)
C-C
A 190 M
90
D
328
80
40
2x M8 12
CL Axis 5
100
xx1300000264
Variant Ai B C D E F G H J K L M
IRB 6700 - 235/2.65 R=456 433 418 403 80 208.5 186 255 320 303.5 500 13.8
IRB 6700 - 205/2.80 R=456 438 423 408 80 208.5 186 255 320 303.5 500 13.8
IRB 6700 - 175/3.05 R=456 433 418 403 80 208.5 186 255 320 303.5 500 13.8
IRB 6700 - 150/3.20 R=456 438 423 408 80 208.5 186 255 320 303.5 500 13.8
IRB 6700 - 200/2.60 R=440 425 410 395 113 197 193 255 320 303.5 500 13.8
IRB 6700 - 155/2.85 R=440 425 410 395 113 197 193 255 320 303.5 500 13.8
IRB 6700 - 245/3.00 R=468 453 438 423 80 222.5 187 265 350 273.5 523.5 15
IRB 6700 - 300/2.70 R=468 453 438 423 80 222.5 187 265 350 273.5 523.5 15
IRB 6700Inv - 300/2.60 R=468 453 438 423 80 222.5 187 265 350 273.5 523.5 15

1 Description
Continued
Variant Ai B C D E F G H J K L M
IRB 6700Inv - 245/2.90 R=468 453 438 423 80 222.5 187 265 350 273.5 523.5 15
i Smallest circumscribed radius axis-3.

1 Description
Continued
Tool flange, standard

Below is the standard tool flange. The guide pin hole is, in calibration position,
pointing upwards in Z-direction.
1,6
+0,018
12 H7 0
B
0,04 A
16 ±1
30° A
11x
0,5 X 45°
6x R11
200 h8 - 0,072
0
+0,035
160
0 100 H7
3x R70
22
1x45 12
0,02 A
2,5
M12
101
45°
A-A
+1 B
+2 3x R 0,8 0 18°
A
3x R 0,8 -0,4
)
re
bo
er
+0,018
nt
18 H7 0
ou
(C
0,2 C D B
2
24 +
0
45°
,5
68
1,
°
306
0,3 C D
23 max.
18 min.
25
m
in
1
.(
H
7)
28
A
+2 0
11x M12
0,2 A B
.
in
m
CL C-D
,4
17
B-B
61
xx1300000280
A Thread length: 18 mm.
The turning disc for robot variants IRB 6700 - 200/2.60 and IRB 6700 - 155/2.85
was redesigned when Axis Calibration was introduced for IRB 6700. Prior to Axis
Calibration the holes on the disc were through. On the current turning disc the
holes are not through.
Fastener quality
Use suitable screws and tightening torque for your application.

1 Description
Continued
Tool flange, LeanID

Below is the tool flange for option 780-4, LeanID. The guide pin hole is, in calibration
position, pointing upwards in Z-direction.
A
C 8 ( 100 H7)
1x45
E
160
18
0,3 E F
0,07 E
12 H7 15
200 h8
100 H7
11xM12
F
12x
30°
C C-C
xx1300000290
A Thread length: 18 mm.
Fastener quality
Use suitable screws and tightening torque for your application.

1 Description
1.7 Maintenance and troubleshooting
1.7 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 gearboxes.
• 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 depend on the selected options. For detailed information
on maintenance procedures, see the maintenance section in Product manual - IRB
6700 and Product manual - IRB 6700Inv.

1 Description
1.8.1 Robot motion
1.8 Robot motion
1.8.1 Robot motion
Type of motion
Axis Type of motion Range of movement - Range of movement Note

IRB 6700 - IRB 6700Inv
Axis 1 Rotation motion ±170° or ±220° (option) ±170°
Axis 2 Arm motion -65°/+85° i ±65° ii
Axis 3 Arm motion -180°/+70° -180° ii /+70° ii
Axis 4 Wrist motion ±300° ±300°
Axis 5 Bend motion ±130° iii ±130° iii
Axis 6 Turn motion ±360° iv ±360° iv
±93.7 revolutions ±93.7 revolutions Maximum value.
The default working range for
axis 6 can be extended by chan-
ging parameter values in the
software.
Option 610-1 Independent axis
can be used for resetting the re-
volution counter after the axis
has been rotated (no need for
"rewinding" the axis).
i Working range for variants IRB 6700 - 300/2.70 and - 245/3.00:
+85° to -65° when axis 3 is within +70° to -45°
+85° to -58° when axis 3 is within +70° to -180°
ii Working ranges of axis 2 and axis 3 are limited in some areas to avoid collision with balancing.
iii Working range +120° to -120° for robots with LeanID, option 780-4.
iv Working range +220° to -220° for robots with LeanID, option 780-4.

1 Description
1.8.1 Robot motion
Continued
Working range axis 2 and axis 3 for IRB 6700-300/2.70 and -245/3.00
Limited in some areas to avoid collision with balancing.
xx1700000509
Working range axis 2 and axis 3 for IRB 6700Inv-300/2.60 and -245/2.90
Limited in some areas to avoid collision with balancing.
xx1700000510

1 Description
1.8.1 Robot motion
Continued
Working range axis 5 and axis 6 for LeanID, option 780-4

Allowed working area for axis 6 related to axis 5 position is shown in the figure
below.
xx1300001587

1 Description
1.8.1 Robot motion
Continued
Working range
Robot type Handling capacity (kg) Reach (m)

IRB 6700 235 2.65
3114
320
1187 920
1908 2650
xx1300000281

1 Description
1.8.1 Robot motion
Continued

IRB 6700 205 2.80
3259
308
1281 958
2039 2794
xx1300000282

1 Description
1.8.1 Robot motion
Continued

IRB 6700 200 2.60
3065
282
1150 911
1859 2601
xx1300000341

1 Description
1.8.1 Robot motion
Continued

IRB 6700 175 3.05
3520
726
1527 1109
2314 3056
xx1300000283

1 Description
1.8.1 Robot motion
Continued

IRB 6700 155 2.85
3312
529
1352 994
2106 2848
xx1300000340

1 Description
1.8.1 Robot motion
Continued

IRB 6700 150 3.20
3665
713
1604 1067
2445 3200
xx1300000284

1 Description
1.8.1 Robot motion
Continued

IRB 6700 300 2.70
3154
349
1187 957
1850 2720
xx1400001137

1 Description
1.8.1 Robot motion
Continued

IRB 6700 245 3.00
3399
596
1518 1057
2097 2967
xx1400001138

1 Description
1.8.1 Robot motion
Continued

IRB 6700Inv 300 2.60
1812 2617
1321 957
85
3204
xx1700000557

1 Description
1.8.1 Robot motion
Continued

IRB 6700Inv 245 2.90
2060 2864
1518 1057
162
3451
xx1700000558

1 Description
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, with all six axes in motion. Values in the table below are the average
result of measurements on a small number of robots. The result may differ
depending on where in the working range the robot is positioning, velocity, arm
configuration, from which direction the position is approached, the load direction
of the arm system. Backlashes in gearboxes also affect the result.
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 pro- AT Max deviation from E to average path
grammed position
RP Tolerance of position B at re- RT Tolerance of the path at repeated
peated positioning program execution
IRB 6700 235/2.65 205/2.80 175/3.05 150/3.20

Pose accuracy, AP i (mm) 0.03 0.06 0.04 0.05
Pose repeatability, RP (mm) 0.05 0.05 0.05 0.06
Pose stabilization time, PSt (s) within 0.16 0.17 0.28 0.34
0.4 mm of the position
Path accuracy, AT (mm) 1.7 1.5 1.9 1.6
Path repeatability, RT (mm) 0.08 0.08 0.12 0.14
i AP according to the ISO test above, is the difference between the teached position (position manually
modified in the cell) and the average position obtained during program execution.

1 Description
Continued
IRB 6700 200/2.60 155/2.85 300/2.70 245/3.00

Pose accuracy, AP i (mm) 0.03 0.03 0.07 0.03
Pose repeatability, RP (mm) 0.05 0.08 0.06 0.05
Pose stabilization time, PSt (s) within 0.21 0.19 0.11 0.14
0.4 mm of the position
Path accuracy, AT (mm) 1.7 1.5 1.4 1.6
Path repeatability, RT (mm) 0.11 0.09 0.07 0.12
IRB 6700Inv 300/2.60 245/2.90

Pose accuracy, AP i (mm) 0.06 0.06
Pose repeatability, RP (mm) 0.05 0.06
Pose stabilization time, PSt (s) within 0.4 mm of the 0.26 0.28
position
Path accuracy, AT (mm) 1.6 1.6
Path repeatability, RT (mm) 0.1 0.22

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 6700-235/2.65 100 °/s 90 °/s 90 °/s 170 °/s 120 °/s 190 °/s
IRB 6700-205/2.80 100 °/s 90 °/s 90 °/s 170 °/s 120 °/s 190 °/s
IRB 6700-200/2.60 110 °/s 110 °/s 110 °/s 190 °/s 150 °/s 210 °/s
IRB 6700-175/3.05 100 °/s 90 °/s 90 °/s 170 °/s 120 °/s 190 °/s
IRB 6700-155/2.85 110 °/s 110 °/s 110 °/s 190 °/s 150 °/s 210 °/s
IRB 6700-150/3.20 100 °/s 90 °/s 90 °/s 170 °/s 120 °/s 190 °/s
IRB 6700-300/2.70 100 °/s 88 °/s 90 °/s 140 °/s 110 °/s 180 °/s
IRB 6700-245/3.00 100 °/s 88 °/s 90 °/s 140 °/s 110 °/s 180 °/s
IRB 6700Inv-300/2.60 100 °/s 88 °/s 90 °/s 140 °/s 110 °/s 180 °/s
IRB 6700Inv-245/2.90 100 °/s 88 °/s 90 °/s 140 °/s 110 °/s 180 °/s
There is a supervision function to prevent overheating in applications with intensive

and frequent movements (high duty cycle).
Axis resolution
0.001° to 0.005°.

1 Description
1.8.4 Robot stopping distances and times
1.8.4 Robot stopping distances and times
Introduction
The stopping distances and times for category 0 and category 1 stops, as required
by EN ISO 10218-1 Annex B, are listed in Product specification - Robot stopping
distances according to ISO 10218-1 (3HAC048645-001).

1 Description
1.9 Cooling fan for axis 1 motor
1.9 Cooling fan for axis 1 motor
Option 87-1
To be used to avoid overheating of motors and gears in applications with intensive
motion (high average speed and /or high average torque and/or short wait time)
of axis 1.
Valid protection for cooling fan is IP54. Fan failure stops the robot. The option is
not allowed to select when the robot is placed on a track motion, IRBT.
To determine the use of cooling fan for axis 1 motor use the function Gearbox
Heat Prediction Tool in RobotStudio. Reliable facts for the decision of need for
fan or not will be achieved by entering the ambient temperature for a specific cycle.
Contact your local ABB organization.

1 Description
1.10.1 Introduction
1.10 Servo gun
1.10.1 Introduction
General
The robot can be supplied with hardware and software for control of the following
configurations:
• Stationary Gun
• Robot Gun
• Robot Gun and Track Motion
• Track Motion
The specific parts related to the servo motor control for electrical welding guns
and for track motion configurations are shown in the conceptual pictures below.
The major parts and required options are also stated in the configurations lists
below each picture.
The cables for control of the basic robot are shown in the pictures with dotted lines.

1 Description
1.10.2 Stationary gun
1.10.2 Stationary gun
General
xx1000000507
Options
Options according to the table below are required to complete the delivery. For
further details on each option see corresponding product specification.
Option Description Product specifica-
tion
785-5 Stationary gun. This option includes cable G (7 m
length) for resolver signals from robot base (FB7)
to stationary gun/axis 7.
864-1 Resolver connection, axis 7, on base.
907-1 First additional drive. Drive unit for 7th axis with Product specifica-
corresponding cables assembled inside drive mod- tion - Controller
ule. IRC5
786-1, -2, -3, -4 Connection to first drive.
Cable A (7-30 m) between drive module and station-
ary gun/axis 7 for servo drive power.
635-6 Spot 6. This option includes Spot Servo and Spot Product specifica-
Servo Equalizing. tion - Controller
IRC5

1 Description
1.10.3 Robot gun
1.10.3 Robot gun
General
xx1000000506
Option
Options according to table below are required to complete the delivery. For further
details on each option see corresponding product specification.
Option Description Product specification
785-1 Robot gun. This option includes cables within
manipulator for servo power signals (servo
gun/axis 7).
907-1 First additional drive. Drive unit for 7th axis with Product specifica-
corresponding cables assembled inside drive tion - Controller IRC5
module.
786-1, -2, -3, -4 Connection to first drive. Cable A (7-30 m)
between drive module and robot base for servo
drive power.
635-6 Spot 6, Spot Servo, or Spot Servo Equalizing. Product specifica-
tion - Controller IRC5

1 Description
1.10.4 Robot gun and track motion
1.10.4 Robot gun and track motion
General
Axis 7
FB7
B SMB
Control
SMB
Module
Axis 8 M
F
Drive
Module E
xx1000000505
Options
785-1 +1002-2 i Robot Gun - Track Motion. This option in- Product specifica-
cludes cables within manipulator for servo tion - IRBT
power signals (servo gun/axis 7). 4004/6004/7004
Track motion deliv- Serial measurement box (SMB2, Split box) Product specifica-
ery includes for distribution of servo power to axis 8. tion - IRBT
The box is placed on the track motion. 4004/6004/7004
Cables from serial measurement box to track
motion.
Cable B for servo power (1.5 m length).
Connection to first and second drive.
Cable E and F (7-22 m) between drive module
and serial measurement box for dual servo
drive power/resolver signals.
907-1 First additional drive. Drive unit for 7th axis Product specifica-
with corresponding cables assembled inside tion - Controller IRC5
drive module.
907-1 Second additional drive. Drive unit for 8th Product specifica-
axis with corresponding cables assembled tion - Controller IRC5
inside drive module.
635-6 Spot 6, Spot Servo, or Spot Servo Equalizing. Product specifica-
tion - Controller soft-
ware IRC5
864-1 Resolver connection, axis 7, on base (FB7).
i To specify robot on track equipped with servo gun. Option 1002-2 from specification form for track
motion.

1 Description
1.10.5 Track motion
1.10.5 Track motion
General
The robot can be supplied with a track motion, see Product specification - IRBT
4004/6004/7004. For configuration and specification of hardware see the following
figure.
FB7
SMB
Control Axis 7 M
Module
Drive E
Module
xx1000000504
Options
Track motion Serial measurement (SMB) in manipulator is Product specifica-
delivery in- used, together with option 864-1, FB7 for signals tion - IRBT
cludes to axis 7/Track motion. 4004/6004/7004
Cable E for between Drive Module and track
motion servo for drive power.
907-1 First additional drive. Drive unit for 7th axis with
corresponding cables assembled inside drive
module.
864-1 Resolver connection, axis 7, on base (FB7).

2 DressPack and SpotPack
2.1.1 Included options

2.1 Introduction
DressPack
Includes options for upper arm, lower arm and floor pos C, D and E, see the
following figure. These are described separately below but are designed as a
complete package for various applications.
The DressPack for the floor contains customer signals.
The DressPack for upper and lower arm contains process cable packages including
signals, process media (water and/or air) and power feeding (for spot welding
power) for customer use.
Necessary supports and brackets are also included.
The routing of the process cable package on the robot is available in different
configurations.
Note
Include everywhere that this is also for IRB 6700Inv (e.g. "This is available for
all IRB 6700 and IRB 6700Inv versions").

Continued
SpotPack
The package supplies the transformer gun/gripper with necessary media, such as
compressed air, cooling water and electrical power. It includes the above described
DressPack + Spot Welding cabinet, Water And Air unit pos A and F (if included)
and software, see the following figure.
(A)
(E)
(D)
(F)
(C)
(B)
xx1300001588
Pos Description
A SpotPack, spot welding cabinet
B Robot controller, (including 7th axis drive for servo gun)
C DressPack, floor
D DressPack, lower arm
E DressPack, upper arm
F SpotPack, water and air unit

2.1.2 Product range
2.1.2 Product range
DressPack solutions for different users needs

The different robot types can be equipped with the well integrated cable and hose
packages in the SpotPack or DressPack options. The DressPack is designed in
close conjunction with the development of the manipulator and is therefore well
synchronized with the robot.
As there is a big span between different users need of flexibility, depending of the
complexity of the operation/wrist movements, there are two major levels of dress
pack solutions available, see Figure below.
Complexity in
wrist movements
Integrated High flexibility demand

(MH/SW) on production line
LeanID, MH/SW 6
Lower flexibility demand

External on production line
(MH)
MH 3
Performance/
Functionality
xx1300000285
Integrated
This type of dress pack is intended for a production where there are many complex
wrist movements and the need for flexibility in changing products is high.
Available options are 798-3 and 780-4 for material handling/spot welding, the LeanID
concept.
External
This type of dress pack is recommended where there are less complexity in wrist
movements. This normally occurs when there are not many different products
running in the production cell. This package requires more individual adjustment
to optimize towards robot program at set up.
Available options are 798-3 and 780-3 for material handling.

2.1.3 Limitations of robot movements
2.1.3 Limitations of robot movements
General
When using DressPack options on the upper arm the robot movements will be
limited.
• In bending backwards positions there are limitations due to interference with
manipulator or Water and Air unit (if such is mounted).
• Might restrict working range, see Working range axis 5 and axis 6 for LeanID,
option 780-4 on page 82.
Note
For more detail information please contact Serop Product support/SEROP/ABB.

E-mail address: serop.product_support@se.abb.com
Restrictions for LeanID, option 780-4

Limitation for axis 5 and 6 depends on how the dress pack is assembled at the tool
and how adjustment has been done.
Axis Working range
Axis 5 120 o to -120 o
Axis 6 220 o to -220 o

2.1.4 Impact on DressPack lifetime
2.1.4 Impact on DressPack lifetime
General
There are some robot movements/positions that shall be avoided in the robot
production program. This will improve the lifetime significantly of external upper
arm DressPack and wear parts e.g. protection hose, hose reinforcement and
protective sleeves.
• The axis 5 movement is not allowed to press the DressPack against the robot
upper arm.
• Combined rotation of the wrist axes must be limited so that the DressPack
is not wrapped hard against the upper arm.
See the Product Manual for more detailed information and recommended set-up
adjustments.

2.1.5 Information structure
2.1.5 Information structure
General
The information for SpotPack and DressPack is structured in the following way.
The SpotPack and DressPack can be delivered in five versions developed for two
different applications. Each type is described in a separate section.
Section Option Description
2.2 DressPack DressPack includes general description DressPack with
common information.
Material handling application / DressPack

2.3 Type H DressPack for Material Handling.
Type Hse SpotPack for handling the part against electrical servo
driven transformer guns stationary mounted.
Spot welding application / SpotPack and DressPack

2.4 Type Se SpotPack for electrical servo driven transformer guns
carried by the robot manipulator.
Spot welding cabinet

2.5 Spot Welding Cabin- Includes general description of Spot Welding cabinet
et with common information.
Water and air unit

2.6 Water and Air unit Includes general description of Water and Air unit with
common information.
Connector kits

2.7 Connector Kits Includes general description of connector kits for Spot-
Pack and DressPack.

2.2.1 Introduction
2.2 DressPack
2.2.1 Introduction
Available DressPack configurations for Material Handling

The table below shows the different DressPack configurations available for Material
Handling.
Lower arm Upper arm
Option 778-1, Option 798-3, Base to axis 3 Option 780-3, Axis 3 to 6
Material Handling External routing
Option 780-4, Axis 3 to axis 6
(LeanID)
Internal routing
Available DressPack configurations for Spot Welding

The table below shows the different DressPack configurations available for Spot
Welding.
Lower arm Upper arm
Option 778-2, Option 798-3, Base to axis 3 Option 780-4, Axis 3 to axis 6
Spot Welding External routing (LeanID)
Internal routing

2.2.2 Built-in features for upper arm DressPack
2.2.2 Built-in features for upper arm DressPack
External
Material handling (option 780-3):
• Internal routing through the rear part of the upper arm.
• Protection hose can easily be replaced if damaged.
• One version for all IRB 6700 versions and all IRB 6700Inv versions.
• Adjustment for optimal hose/cable lengths.
Internal
Spot Welding and Material handling (option 780-4):
• Partly internal routing through the upper arm.
• Suitable for complex movements.
• High demands for flexibility and accessibility.
• Longer lifetime.
• Predictable movements.
• Easy exchange of DressPack.

2.2.3 Interface descriptions for DressPack
General
Below is an overview showing the different DressPack options connection points,
and their locations. For detailed information see the circuit diagram, and Product
manual - DressPack/SpotPack IRB 6700.
(B)
(C)
(A)
xx1300000224
Pos Location Description Options

A Base FB7, CP/CS/CBUS 864-1, 798-3
B Axis 3 CP/CS/CBUS 798-3
C Axis 6 CP/CS/CBUS, WELD 780-3, 780-4

Continued
Base
Material handling (option 798-3), see figure below:
• Included are: A, B (if applicable), one D (Proc 1) and E (if applicable).
Spot welding (option 798-3), see figure below:
• Included are: A, B (if applicable), C, D (Proc 1-4) and E (if applicable).
(A) (B) (C)
(E) (D)
xx1000000619
For corresponding parts of the tool, see Connection kits on page 161.
Pos Description
A R1.CP/CS
B R1.SP (Spot Welding Servo gun) or FB7 (Resolver connection)
C R1.WELD 3x35mm 2 . (Spot Welding)
D R1.PROC 1 (Material Handling/Spot Welding 1/2”, M22x1.5, 24 degree seal)
R1.PROC 2 - 4 (Spot Welding 1/2”, M22x1.5, 24 degree seal)
E R1.ETHERNET (M12 connector, when EtherNet communication is selected)

Continued
Axis 3
Material Handling (option 798-3), see figure below:
• Included are: A, B/G (if applicable) and one C (Proc 1).
Spot welding (option 798-3), see figure below:
• Included are: A, D, B/E/F/G (if applicable) and C (Proc 1-4).
(E) (B) (F)
(D) R2.FB R2.SP
(G)
R2.ETHERNET R2.CBUS
R2.CP/CS
(A)
R2.PROC4 R2.PROC3 R2.PROC2 R2.PROC1
(C)
xx1200000072
For corresponding parts of the tool, see Connection kits on page 161.
Pos Description
A R2.CP/CS
B R2.ETHERNET (M12 connector, when EtherNet communication is selected)
C R2.PROC 1 (Material Handling 1/2”, M22x1.5, 24 degree seal)
R2.PROC 2-4 (Spot Welding 1/2”, M22x1.5, 24 degree seal)
D R2.WELD 3x35mm 2 (Spot Welding)
E R2.FB7
F R2.SP (Spot Welding Servo gun)
G R2.CBUS (UTOW connector when Profibus or DeviceNet communication is
selected)

Continued
Axis 6
External
• Hose and cable free length, min. 1000 mm.
• Air hose ends with free end.
The cable ends with a connector, the main parts are described in the list below
(for corresponding parts of the tool, see Connection kits on page 161):
xx0900000728
EtherNet connector
• Cable free length, min. 1000 mm.
• Signals are connected with a M12 connector.
The different main parts within the connector are described in the list below, both
with name and Harting article number (for corresponding parts of the tool, see
within the Harting product offer).
Name Harting article
PIN connector, R3.ETHERNET 21 03 882 1405
PIN 61 03 000 0094
Sealing cap M12x1 3HAC033600-001 ABB article
xx1100000956

Continued
Integrated
Material Handling/Spot Welding option 780-4 (LeanID), see figure below:
• Hose and cable free length, min. 1160 mm.
• Hoses and weld power cable (only for spot welding) end with free end.
The cable ends with connectors, for corresponding parts of the tool, see Connection
kits on page 161 and within the UTOW product offer.
(B) (A) (G) (F) (E)
(D) (C)
xx1200000117
Pos Description
A R3.CP/CS (UTOW connector 26p) Customer signals and power
B R3.ETHERNET (M12 connector) EtherNet signals (when EtherNet communic-
ation is selected)
C R3.PROC 1-2 (1/2”, freeend) R3.PROC 2-4 (3/8”, free end) Media hoses
D R3.WELD 3x25mm 2 (Free end) Spot Welding power
E R3.FB7 (M23 connector 17p) Servo motor feedback (when Spot Welding
Servo gun is selected)
F R3.SP (M23 connector 8p) Servo motor power (when Spot Welding Servo
gun is selected)
G R3.CBUS (UTOW connector 10p) BUS signals (when Profibus or DeviceNet
communication is selected)

2.2.4 Dimensions
2.2.4 Dimensions
Dimensions for robot with DressPack

Dimensions are shown in figures below.
323 520
xx1300000286
Axis 3 to axis 6 (option 780-3)
650 360
120 600
580
xx1300000287
Base to axis 3 + Axis 3 to axis 6 (option 798-3 + 780-4)

2.3.1 Introduction
2.3 Type H/HSe
2.3.1 Introduction
General
Variant Type H is designed for Material Handling (MH) application and Hse to
handling parts against a stationary Spot Welding gun (pneumatic or servo
controlled). Included modules are shown in Figure below.
(A)
(G)
(F)
(D)
(E)
(C)
(H)
(B)
xx1300002178
Pos Name
A Spot Welding cabinet For type HSe
B Robot Cabinet IRC5 Incl. 7:th axis drive for servo gun, HSe
C DressPack, Floor
D DressPack, Lower arm
E Water and Air unit with hoses
F DressPack, Upper arm For type H and HSe
G Robot Gripper
H Stationary gun Pneumatic or servo controlled and HSe
Available configurations with linked option numbers are described below.

2.3.1 Introduction
Continued
Option description
Option Type Description

16-1 Connection to cabinet Floor cables and connections inside the I/O section
for the DressPack are chosen. The length and con-
figuration of the floor harness is specified under the
options below.
Option 94-X for parallel communication.
Option 90-X for parallel communication and field bus
communication with Can/DeviceNet.
Option 92-X for parallel communication and field bus
communication with Profibus.
455-1 Parallel communication Offers the signal cables needed for parallel commu-
nication in lower and upper arm DressPack. To be
combined with option 94-X.
455-4 Parallel and Bus communic- Offers the signal cables needed for the combination
ation of parallel and bus communication in lower and up-
per arm DressPack. To be combined with option 90-
X or 92-X.
455-8 Parallel and Ethernet com- Offers the signal cables needed for the bus commu-
munication nication in lower and upper arm DressPack. To be
combined with option 859-X. Requires selection of
option 94-X.
The available alternatives and allowed combinations are shown in the schematic
Figures below.
Applicatioon Inter- Option 455-1 Option 94-X Option 778-1
face connected to Parallel communication Cable length, Material Handling
Option 16-1, Cabinet Parallel communication
Option 455-4 Option 90-X
Parallel and bus commu- Option 92-X
nication Cable length, Parallel
and bus communication
Option 455-8 Option 859-X
Parallel and Ethernet Cable length, Ethernet
communication communication
DressPack
Lower arm Upper arm
Option 778-1. Option 798-3, Base to axis 3 Option 780-3, Axis 3 to 6
Material Handling External routing
Option 780-4, Axis 3 to 6
Internal routing

2.3.2 Configuration result for Type H HSe
General
Depending on the choice of options above the DressPack will have different content.
The choice of routing will not affect the content. See tables for signal content below.
DressPack Type H/HSe. Parallel communication

• Option 16-1 with Connection to cabinet
• (Option 94-X to specify cable length)
• Option 455-1. Parallel communication
• Option 778-1. Material Handling
• Option 798-3. Internal routing, DressPack Lower arm
One of the options:
• Option 780-3 (and Option 798-3). External routing
• Option 780-4 (and option 798-3) Internal routing
The table below shows the available type of wires/media.
Type At terminals At connection Cable/part Allowed capacity
in cabinet point. Base, Ax- area
is 3 or axis 6
Customer Power (CP)
Utility Power 2+2 2+2 0.75 mm 2 250 VAC, 5 A rms
i
Protective earth 1 0.75 mm 2 250 VAC i

Customer Signals (CS)
Signals twisted pair 12 12 (6x2) ii 0.2 mm 2 50 V DC, 1 A rms
Signals twisted pair and 8 8 (4x2) 0.2 mm 2 50 V DC, 1 A rms
separate shielded
Media
Air (PROC 1) 1 12.5 mm Max. air pressure
inner dia- 16 bar/230 PSI
meter
i For option 780-3 50 VAC / 60 VDC.
ii For option 780-3 8 signals.

Continued
DressPack Type H/HSe. Parallel and field bus communication, Can/DeviceNet

• Option 455-4. Parallel and bus communication
• Option 778-1 Material Handling
One of the options:
• Option 780-4 (and option 798-3). Internal routing
Type At terminals At Connection Cable/part Allowed capacity
is 3 or axis 6
Customer Power (CP)
i

Signals twisted pair 12 12 (6x2) ii 0.2 mm 2 50 V DC, 1 A rms
separate shielded
Customer bus (CBus)
Bus signals At bus board 2 0.14 mm 2 Can/DeviceNet
spec
Bus signals At bus board 2 0.2 mm 2 50 V DC, 1 A rms
Media
Air (PROC 1) 1 12.5 mm Max. air pressure
meter
ii For option 780-3, 8 signals instead of 12.

Continued
DressPack Type H/HSe. Parallel and field bus communication, Profibus

One of the options:
Type At terminals At connection Cable/part Allowed capacity
is 3 or axis 6
Customer Power (CP)
Utility Power 2+2 2+2 0,75 mm 2 250 VAC, 5 A rms
i
Protective earth 1 0,75 mm 2 250 VAC i

Signals twisted pair 12 12 (6x2) ii 0,2 mm 2 50 V DC, 1 A rms
Signals twisted pair and 8 8 (4x2) 0,2 mm 2 50 V DC, 1 A rms
separate shielded
Customer bus (CBus)
Bus signals At bus board 4 0,14 mm 2 Profibus 12 Mbit/s
spec
Media
Air (PROC 1) 1 12,5 mm Max. air pressure
meter
i For option 780-3 50 VAC / 60VDC.
ii For option 780-3, 8 singals instead of 12.

Continued
DressPack Type H/HSe. Parallel and field bus communication, Ethernet

• Option 455-8. Parallel and Ethernet communication
One of the options:
Type At termin- At connection Cable/part Allowed capacity
als in cabin- point. Base, area
et Axis 3 or axis 6
Customer Power (CP)
Utility Power 2+2 2+2 0.75 mm 2 250 VAC, 5 A rms i
Signals twisted pair 11 12 (4x3, 1 is 0.2 mm 2 50 V DC, 1 A rms
N.C.) ii
separate shielded
Customer bus (Ethernet)
Bus signals 4 4 0.4 mm 2 Ethernet CAT 5e, 100
Mbit iii
Media
Air (PROC 1) 1 12.5 mm Max. air pressure 16
inner dia- bar/230 PSI
meter
ii For option 780-3, 8 signals instead of 12.
iii Ethernet with wire colors according to PROFINET standard, M12-connectors.

Continued
Required general options for Type HSe

To enable the SpotPack IRB 6700 to perform as intended, general standard robot
options are required. These standard options are further described under other
chapters and are also mentioned in this chapter.
• Option 727-1. 24V 8 Amps power supply
• Option 635-6. Spot. Software option for pneumatic guns
Required additional options for servo gun Type HSe

To enable the spot welding function package SpotPack IRB 6700 to run with a
servo controlled gun, some additional (additional to those described in Required
general options for Type HSe on page 123) servo drive options are required. These
standard options are described under other chapters and are also mentioned below
in this chapter.
• Option 907-1. First additional drive
• Option 864-1. Resolver connection, axis 7
• Option 785-5. Stationary gun
• Option 786-1,-2,-3,-4. Connection to first drive (Cable length to be stated)
• Option 635-6. Spot 6
Also option 630-1, Servo tool change, should be used if servo gun tool change is
required.
Required Spot Welding cabinet options for Type HSe

The SpotPack IRB 6700 also requires a Spot Welding cabinet (option 768-4) to
perform as intended. Weld timer brand and weld capacity are stated by choosing
the variant. Additional features could then be added to the cabinet variant. All these
options are further described under Spot Welding cabinet on page 145 but are also
mentioned in this chapter.
xx1000000381

Continued

782-13 Bosch MFDC ProfiNet This option gives a basic Spot Welding cabinet
equipped with a weld timer from Bosch with an integ-
rated inverter with basic capacity. Type Bosch PSI
61C0.751OEM.
Additional options to the Spot Welding cabinet are mentioned below. For further
technical details as well as restrictions in combinations see Spot Welding cabinet
on page 145

788-1 Forced air cooling Offers a cooling fan with housing placed on the rear
of the Spot Welding cabinet which forces air on the
cooling surface/grids of the thyristor or MFDC invert-
er.
789-1 Earth fault protection unit Offers an earth fault protection integrated with the
circuit breaker for the weld power.
790-1 Contactor for weld power Offers a weld contactor with necessary wiring placed
inside the Spot Welding cabinet.
791-1 Weld power cable, 7 m Offers floor cable of 7 m length for weld power.
809-1 Process cable to stationary Offers floor cable of 7 m length for process signals
gun, 7 m between the Spot Welding cabinet and to the station-
ary gun.
809-2 Process cable to stationary Offers floor cable of 15 m length for process signals
gun, 15 m between the Spot Welding cabinet and to the station-
ary gun.
858-1 Bosch Adaptive control Offers additional functionality for adaptive welding
regulation. Only possible with option 782-11.

2.3.3 Interface description for stationary gun
General
The interface towards the stationary gun includes 3 common parts and 2 extra for
servo gun.
Common parts:
• Signal interface with a signal connector type modular Harting
(Cable option 809-1, -2).
• Power cable with a Multi Contact interface (Cable option 791-1 or option
791-2)
(Ending Multi contact type MC TSB 150/35).
• Water and air connections made by the customer directly on the water and
air unit. See Water and air unit on page 153.
Extra for servo gun:
• Servo power cable (Option 786-1,-2,-3 or -4). Cable goes from robot control
cabinet to stationary gun and ends with a 23 pin Souriau connector (Type
UT 061823SH).
• Resolver signal cable, 7 m length (included in option 785-5). Cable goes from
robot foot R3.FB7 to stationary gun and ends with 8 pin Souriau connector
(Type UT 06128SH)
The connector configurations are described in the circuit diagram.
The Harting connector is shown below. The different main parts within the connector
are showed both with name and Harting article number. Corresponding parts at
the tool are available within the Harting product offer.
Name Harting article No.
Hood 09 30 010 0543
Hinged frame, hood 09 14 010 0303
Multicontact, female (HD) 09 14 025 3101
Multicontact, female (DD) 09 14 012 3101
Multicontact, female (EE) 09 14 008 3101
For the contacts above corresponding female crimp-contacts for the different cable
diameters are required.

Continued
Required Water and Air unit options for Type HSe

The SpotPack IRB 6700 also requires Water and Air unit options to perform as
intended. These options are further described under Water and air unit on page 153
and are also mentioned in this chapter.
xx1700001596
xx1700001597

Continued

792-2 Water and Air unit, type HS Offers the basic water and air unit for type HS includ-
ing splitbox for signal distribution.
793-1 Second water return Offers an additional water return circuit.
797-1 Cable to split box, 7 m Offers floor cable of 7 m length for signals between
the cabinet and to the split box placed on the water
and air unit.
and air unit.
and air unit.
and air unit.

2.3.4 Summary common options Type H HSe
2.3.4 Summary common options Type H HSe
General
The following options are the minimum required to form a complete SpotPack Type
H/HSe:
• Option 16-1. Connection to cabinet (Cable length and communication type
to be stated)
• Option 455-1, 455-4 or 455-8. Parallel, Parallel and Bus communication or
EtherNet (Communication type to be stated)
• Option778-1. Material Handling
• Option 798-3. DressPack Lower arm (Routing type to be stated)
• Option 780-3, -4. DressPack Upper arm (Routing type to be stated)

2.3.5 Summary options required for Type HSe
2.3.5 Summary options required for Type HSe
General options
• Option 635-6. Spot (only for type HS)
Servo gun
• Option 785-5. Stationary gun
• Option 786-1. Connection to first drive (other lengths available)
Spot Welding cabinet

• Option 768-4. Spot Welding large
• Option 782-13. Weld timer capacity
• Option 791-1. Power cable 7 m (other lengths available)
• Option 809-1. Process cable to stationary gun (other lengths available)
Water and air unit

• Option 792-2. Water and air unit, Type HS
• Option 797-1. Splitbox cable 7 m. (other lengths available)
Other described options depend on specific system need and performance.

2.4.1 Introduction
2.4 Type Se
2.4.1 Introduction
General
Variant Type Se is designed for robot handled servo-controlled tool (electrical gun).
Included modules are shown in Figure below. Available configurations with linked
option numbers are described below.
(A)
(E)
(D)
(F)
(C)
(B)
xx1300002179
Position Name
A Spot Welding cabinet
B Robot Cabinet IRC5 (including 7th axis drive), Se
C DressPack, Floor
D DressPack, Lower arm
E DressPack, Upper arm
F Water and Air unit with hoses
Available configurations with linked option numbers are described below. To achive
the specific servo motor connections within the DressPack for Type Se option
785-1 Robot gun must also to be chosen. See Robot gun on page 100 for details.

2.4.1 Introduction
Continued
Option description

16-1 Connection to cabinet Floor cables and connections inside the I/O
section for the DressPack are chosen. The length
and configuration of the floor harness is specified
under the options below.
Option 94-X for parallel communication
Option 90-X for parallel communication and field
bus communication with Can/DeviceNet
Option 92-X for parallel communication and field
bus communication with Profibus
455-1 Parallel communication Offers the signal cables needed for parallel
communication in lower and upper arm
DressPack. To be combined with option 94-X.
455-4 Parallel and Bus communica- Offers the signal cables needed for the combin-
tion ation of parallel and bus communication in
combination in lower and upper arm DressPack.
To be combined with option 90-X or 92-X.
455-8 Parallel and Ethernet Offers the signal cables needed for the Ethernet
communication in combination in lower and up-
per arm DressPack. To be combined with option
859-X. Requires selection of option 94-X.
Application Interface Option 455-1, Parallel Option 94-X Option 778-2,

connected to communication Cable length, Parallel Spot Welding
Option 16-1, Cabinet communication
Option 455-4, Parallel Option 90-X
and Bus communica- Option 92-X
tion
Cable length, Parallel
and Bus communica-
tion
Option 455-8, Parallel Option 859-X
and Ethernet commu- Cable length, Ethernet
nication communication
DressPack
Lower arm Upper arm
Option 778-2 Option 798-3, Base to axis 3 Option 780-4, Axis 3 to 6
Spot Welding External routing Internal routing

2.4.2 Configuration result for Type Se
General
Depending on the choice of options above (combined with option 785-1 Robot gun)
the DressPack will have different content. The choice of routing will not affect the
content. See tables for signal content below.
DressPack Type Se. Parallel communication

• Option 455-1. Parallel communication
• Option 778-2. Spot Welding
• Option 798-3. External routing, DressPack Lower arm
and:
• Option 780-4 (and Option 798-3). Internal routing, DressPack Upper arm
The table below shows the available type of wires/media for type S.
Type S At terminals At connection Cable/part Allowed capacity
in cabinet point. Base, ax- area
is 3 or axis 6
Customer Power (CP)
Protective earth 1 0.75 mm 2 250 VAC
Signals twisted pair 12 12 (6x2) 0.2 mm 2 50 V DC, 1 A rms
separate shielded
Media
Water/Air (PROC 1-4) 4 12.5 mm Max. air pressure
inner 16 bar/ 230 PSI
diameter i Max. water pres-
sure 10 bar/ 145
PSI
Welding power (WELD)
Lower and Upper arm 2 35 mm 2 ii 600 VAC, 150 A
rms at 20°C (68°F)
Protective earth (Lower and 1
Upper arm)
i For LeanID 2x1/2" + 2x3/8", only upper arm
ii For LeanID upper arm 25 mm 2 , only upper arm, 135 A rms

Continued
The table below shows the available type of wires/media for type Se.
Type Se At terminals At connection Cable/part Allowed capacity
is 2/3 or axis 6
Customer Power (CP)
separate shielded
Servo motor signals
Servo motor power At drive 3 1.5 mm 2 600 VAC, 12 A rms
Protective earth At drive 1 1.5 mm 2 600 VAC
Signals twisted pair for re- - 6 0.23 mm 2 50 V DC, 1 A rms
solver
Brake - 2 0.23 mm 2 50 V DC, 1 A rms
Temperature control/PTC - 2 0.23 mm 2 50 V DC, 1 A rms
Media
inner dia- 16 bar/ 230 PSI.
meter i Max. water pres-
sure 10 bar/ 145
PSI
Lower and Upper arm 2 35 mm 2 ii 600 VAC,
Protective earth (Lower and 1 150 A rms at 20°C
Upper arm) (68°F)


Continued
DressPack Type Se. Parallel and field bus communication, Can/DeviceNet

and:
• Option 780-4 (and option 798-3). Internal routing, DressPack Upper arm
is 3 or axis 6
Customer Power (CP)
Customer signals (CS)
separate shielded
Customer bus (CBus)
spec
Media
sure 10 bar/145
PSI.
Upper arm) (68°F)


Continued
is 3 or axis 6
Customer Power (CP)
separate shielded
Customer bus (CBus)
spec
Servo motor signals
solver
Brake - 2 0.23 mm 2 50 V DC, 1 A rms
Media
inner dia- 16 bar/230 PSI.
sure 10 bar/145
PSI.
Upper arm) (68°F)


Continued
DressPack Type Se. Parallel and field bus communication, Profibus

and:
• Option 780-4 (and option 798-3). Internal routing, DressPack Upper arm
is 3 or axis 6
Customer Power (CP)
Protective earth 1 0,75 mm 2 250 VAC
Signals twisted pair 12 12 (6x2) 0,2 mm 2 50 V DC, 1 A rms
separate shielded
Customer bus (CBus)
Bus signals At bus board 4 0,14 mm 2 Profibus 12 Mbit/s
spec
Media
Water/Air (PROC 1-4) 4 12,5 mm Max. air pressure
sure 10 bar/145
PSI.
Upper arm) (68°F)

ii For LeanID upper arm 25 mm 2 , only upper ar, 135 A rms

Continued
is 3 or axis 6
Customer Power (CP)
Protective earth 1 0,75 mm 2 250 VAC
Signals twisted pair 12 12 (6x2) 0,2 mm 2 50 V DC, 1 A rms
separate shielded
Customer bus (CBus)
Bus signals At bus board 6 (3x2) 0,14 mm 2 Profibus 12 Mbit/s
6 spec
Servo motor signals
Servo motor power At drive 3 1,5 mm 2 600 VAC, 12 A rms
Protective earth At drive 1 1,5 mm 2 600 VAC
Signals twisted pair for re- - 6 0,23 mm 2 50 V DC, 1 A rms
solver
Brake - 2 0,23 mm 2 50 V DC, 1 A rms
Temperature control/PTC - 2 0,23 mm 2 50 V DC, 1 A rms
Media
Water/Air (PROC 1-4) 4 12,5 mm Max. air pressure
sure 10 bar/145
PSI.
Upper arm) (68°F)


Continued
DressPack Type Se. Parallel and field bus communication, Ethernet

• Option 455-8. Parallel and Ethernet communication
and:
• Option 780-4 (and Option 798-3). Internal routing, DressPack Upper arm
is 3 or axis 6
Customer Power (CP)
separate shielded
Bus signals 4 4 0.4 mm 2 Ethernet CAT 5e,
100 Mbit i
Media
meter ii Max. water pres-
sure 10 bar/145
PSI.
Lower and Upper arm 2 35 mm 2 iii 600 VAC,
Upper arm) (68°F)
i Ethernet with wire colors according to PROFINET standard, M12-connectors.

ii For LeanID 2x1/2" + 2x3/8"
iii For LeanID upper arm 25 mm 2 , 135 A rms

Continued
is 2/3 or axis 6
Customer Power (CP)
Signals twisted pair 12 12(6x2) 0.2 mm 2 50 V DC, 1 A rms
separate shielded
Bus signals 4 4 0.4 mm 2 Ethernet CAT 5e,
100 Mbit i
Servo motor signals
solver
Brake - 2 0.23 mm 2 50 V DC, 1 A rms
Media
meter ii Max. water pres-
sure 10 bar/145
PSI.
Lower and Upper arm 2 35 mm 2 iii 600 VAC,
Upper arm) (68°F)
i Ethernet with wire colors according to PROFINET standard, M12-connectors.

ii For LeanID 2x1/2" + 2x3/8"
iii For LeanID upper arm 25 mm 2 , 135 A rms

Continued
Required general options for Type Se

To enable the SpotPack IRB 6700 to perform as intended, general standard robot
options are required. These standard options are further described under other
chapters and are also mentioned in this chapter.
• Option 635-6. Spot. Software option for pneumatic guns
Required options for servo gun, type Se

To enable the spot welding function package SpotPack IRB 6700 to run with a
servo controlled gun, some additional (additional to those described in Required
general options for Type Se on page 140) servo drive options are required. These
standard options are described under other chapters and are also mentioned below
in this chapter.
• Option 864-1. Resolver connection, axis 7
• Option 785-1. Robot Gun
• Option 786-1,-2,-3,-4. Connection to first drive (Cable length to be stated)
• Option 635-6. Spot 6.
Also option 630-1, Servo tool change, should be added if servo gun tool change
is required.
Required Spot Welding cabinet options for Type Se

The SpotPack IRB 6700 also requires a Spot Welding cabinet (option 768-4) to
perform as intended. Weld timer brand and weld capacity are stated by choosing
the variant. Additional features could then be added to cabinet variant. All these
options are further described under Spot Welding cabinet on page 145 and are also
mentioned in this chapter.
xx1000000381

Continued

782-13 Bosch MFDC ProfiNet This option gives a basic Spot Welding cabinet
equipped with a weld timer from Bosch with an integ-
rated inverter with basic capacity. Type Bosch PSI
61C0.751OEM.
Additional options to the Spot Welding cabinet are mentioned below. For further
technical details as well as restrictions in combinations see Spot Welding cabinet
on page 145

788-1 Forced air cooling Offers a cooling fan with housing placed on the rear
of the Spot Welding cabinet which forces air on the
cooling surface/grids of the thyristor or MFDC invert-
er.
789-1 Earth fault protection unit Offers an earth fault protection integrated with the
circuit breaker for the weld power.
790-1 Contactor for weld power Offers a weld contactor with necessary wiring placed
inside the Spot Welding cabinet.
791-1 Weld power cable, 7 m Weld power cable, 7 m
858-1 Bosch Adaptive control Offers additional functionality for adaptive welding
regulation. Only possible with option 782-11.

Continued
Required Water and Air unit options for Type Se

The SpotPack IRB 6700 also requires Water and Air unit options to perform as
intended. These options are further described under Water and air unit on page 153
and are also mentioned in this chapter.
xx1700001596
xx1700001597

Continued

792-1 Water and Air unit, type S Offers the basic water and air unit for type S including
splitbox for signal distribution.
793-1 Second water return Offers an additional water return circuit.
and air unit.
and air unit.
and air unit.
and air unit.

2.4.3 Summary common options for Type Se
2.4.3 Summary common options for Type Se
General
The following options are the minimum required to form a complete SpotPack Type
S/Se:
• Option 16-1. Connection to cabinet, (Cable length and communication type
to be stated)
• Option 455-1, 455-4 or 455-8. Parallel, Parallel and Bus communication or
EtherNet (Communication type to be stated)
• Option 780-4 Internal routing, DressPack Upper arm
General options
• Option 635-6. Spot. (only for type S)
Servo gun type Se

• Option 785-1. Robot Gun
• Option 786-1,-2,-3,-4. Connection to first drive (cable length to be stated)
Spot Welding cabinet

• Option 768-4. Spot Welding large
• Option 782-13. Weld timer capacity
• Option 791-1. Power cable 7 m (other length available)
Water and air unit

• Option 792-1. Water and air unit, Type S
• Option 797-1. Splitbox cable 7 m (other lengths available)
Other described options depend on specific system need and performance.

2.5.1 Introduction to Spot Welding cabinet
2.5 Spot Welding cabinet
General
The Spot Welding cabinet for SpotPack contains the electric components and
circuits needed for spot welding application. The Spot Welding cabinet, with the
welding controller build in, is controlled from the robot controller via the processor
software. The capacity and functionality depends on the choice of different option
combinations.
The Spot Welding cabinet is designed to be placed on top of the robot controller
cabinet (Single cabinet version option 700-3), see Figure below. This is also how
it is assembled at delivery.
xx1600000525
A Spot welding cabinet, mounted on IRC5 controller

Continued
B Spot welding cabinet, standing on the floor

C IRC5 controller
There are interface cables between the robot controller cabinet and the Spot
Welding cabinet (cable length 1.5 m, connected at rear of the control cabinet and
at front of Spot Welding cabinet). These cables includes power feeding for control
circuits, process signals to the welding gun, safety signals, communication towards
weld timer and I/O:s for indication and control. Depending on chosen options wiring
will differ (see option descriptions below for further details).
The Spot Welding cabinet has the following common main features.
• Modular build for easy repair and installation (see Figure below)
• Rotary switch with adjustable thermal release and short circuit release
• Cross connection of signal handling with separate fusing for different circuits
to achieve selectivity
• Programmable weld timer with proportional valve control
• A compact cabinet family based on a common platform prepared for additional
options and for easy exchange
Note
Dimensions of the large cabinet within brackets.
xx1700001386

Continued
Weld power circuit

The electrical circuits of the Spot Welding cabinet consists of weld power circuit
and control circuits to control the welding. The welding power for the welding gun
is fed through a circuit breaker and inverter (for MFDC welding) and further out to
the welding power cable. The cabinet is prepared for power feeding from the floor
or from top. The welding power cable (outgoing feeding) is connected, via cable
gland, directly to terminals inside the Spot Welding cabinet.
The circuit breaker has a built in thermal release that could be adjusted for customer
specific needs to protect welding equipment and to get selectivity in the power
circuit. The thermal release is set at 100 A at delivery. The maximum level should
not exceed 100 A.
Control Circuits
Power feeding 240/115 V AC and 24V DC for the control circuits is fed from the
robot controller cabinet. Also, the safety circuits in the robot controller cabinet are
used to interlock the welding timer.
A welding timer (Bosch), integrated with the air cooled inverted, controls the welding
current. The welding timer includes control program that gives possibility to program
different weld sequences. The programming is normally done on a programming
device or a PC that is connected directly to the welding timer. The interface between
the robot system and the welding timer is handled via a field bus interface (ProfiNet).
Examples of signals are weld start, weld ready, weld programs choice and error
handling.
Also, cross connections, of interface signals and interlocking between the robot
system (I/O-boards), the water and air unit, signals to DressPack or stationary gun,
are done within the Spot Welding cabinet.
Programming device for the welding timer is not included in the delivery.
If the option 744-1 is chosen there will follow a door interlock with the Spot Welding
cabinet.
Note
For more information see:

• Product manual for DressPack/SpotPack
• Circuit diagrams
• Separate manuals for the Bosch equipment
The welding capacity as well as the weld timer brand described below. Additional
features could then be added to each of the cabinet variants.

Continued
Option 782-13 Bosch MFDC ProfiNet

This option gives a basic Spot Welding cabinet equipped with a weld timer from
Bosch with an integrated inverter with basic capacity.
General technical data
Technical data IEC

Weld timer and inverter Bosch PSI 61C0.751OEM
Max wire range, incoming power 3x70 mm 2
Power feeding 400-480 V AC
Max welding current 110 A rms, 20 kA weld current
Protection class IP54
Specific technical data large cabinet
Technical data IEC

Main breaker (ABB Sace XT1), thermal 100 A (adjustable) 70-100 A
release
Main breaker, magnetic release 36 kA

Continued
Option 788-1 Forced air cooling

Offers a cooling fan with housing placed on the rear of the Spot Welding cabinet
which forces air on the cooling surface/grids of the thyristor or MFDC inverter (see
pictures below). Cabling to the fan goes via a cable gland at the rear of the Spot
Welding cabinet. The fan runs continuously when the welding system is powered
up.
The fan is required to be used together with Bosch MFDC (option 782-13).
xx0900000746
Option 789-1 Earth fault protection unit

Offers an earth fault protection integrated with the circuit breaker for the weld
power. If an earth fault occurs the circuit breaker is tripped.

Continued
Option 790-1 Contactor for weld power

Offers a weld contactor with necessary wiring placed inside the Spot Welding
cabinet. The contactor is mounted after the inverter and opens up the weld circuit
out from the cabinet. It is recommended to be used for increasing safety or when
using tool change for weld guns. The contactor is open when the robot system is
in motor off mode or when an specific I/O is set.
xx0900000747
Pos Description
A Weld contactor
Option 791-1 Weld power cable, 7 m

Offers floor cable of 7 m length for weld power (3x35 mm 2 ). One end of the weld
power cable is connected at terminal to the weld timer (Bosch) or the contactor
(when option 790-1 is chosen). The cable enters the Spot Welding cabinet cia cable
gland. The other end is equipped with an MC connector TSB160/35 and is connected
at either the manipulator base (for robot gun Type S or Se) or to the stationary gun
(for Type HSe).
Option 791-2 Weld power cable, 15 m

Offers floor cable of 15 m length for weld power (3x35 mm²). See option 791-1 for
further details.
Option 809-1 process cable to stationary gun, 7 m

Offer floor cable of 7 m length for process signals between the Spot Welding cabinet
and the stationary gun. This option also includes internal cross connections between
I/O, weld timer and power feeding etc.
One end of the process cable enters the Spot Welding cabinet via cable gland and
is connected at Phoenix terminals. The other end is equipped with a HD Harting 3
modules and is connected to the stationary gun (for Type HSe).

Continued
Option 809-2 process cable to stationary gun, 15 m

Offer floor cable of 15 m length for process signals between the Spot Welding
cabinet and the stationary gun. See option 809-1 for further details.

2.5.2 Interface description for spot welding cabinet
2.5.2 Interface description for spot welding cabinet
General
The interface towards the Spot Welding cabinet is described in the tables below.
Connections for Spot Welding cabinet
Type Pcs Specification Allowed capacity

Incoming power from 1 400-480 VAC,
line i Max. 100 A rms, 50/60 Hz
Outgoing power to 1 Cable gland (min 24 mm / max Max. 150 A rms, 50/60 Hz
robot 28 mm cable diameter)
Floor cable 2 35 mm 2 Max. 600 VAC,
150 A rms at + 20°C (68°F)
ambient temperature
Floor cable protect- 1 35 mm 2 Max. 600 VAC,
ive earth 150 A rms at + 20°C (68°F)
ambient temperature
i Incoming power connection made by customer. For incoming power and safety recommendations
see Product manual - DressPack/SpotPack IRB 6700.
Connections for Signals
Type Pcs Specification Allowed capacity

Water and air unit 1 Modular Harting connector, 24 V DC, Max 0.5 A / output
(on IRC5, option type DD
782-13)
Stationary gun (on 1 Cable gland 24 V DC, Max 0.5 A / output
IRC5, option 782-13) See interface description
customer plate Stationary gun type HSe

2.6.1 Introduction
2.6 Water and air unit
2.6.1 Introduction
General
The Water and Air unit contains components for water and air distribution and
control within the SpotPack. The water and air unit is controlled from the robot
controller via the process software. Wiring is made via the Spot Welding cabinet.
The capacity and functionality depends on the choice of different option
combinations, see water and air unit options under this chapter.
The unit is only used for the spot welding application
The water and air unit

The Water and Air unit has the following main features (see figure below):
• Adjustable, high speed water flow sensors.
• Adjustable digital pressure switch for air.
• Air filter with auto draining.
• Possibility to balance water flow for complete package and for individual
circuits.
• Preparation for additional options and preparation for easy exchange of
complete unit or separate circuits.
• Equipped with extra (plugged) air outlets.
xx1700001596
The standard water and air unit consists of four main assemblies.
• Water in circuit

2.6.1 Introduction
Continued
• Water return circuit

• Air supply circuit
• Split box
Cables and hoses required for Water and Air unit are defined and described under
each option for water and air unit.
Water in circuit
The function of the water in circuit is to open / close the cooling water supply to
the Spot welding gun (see figure below). An air operated 2 port valve is used. The
valve is controlled by a 3 port direct operated valve that is controlled by a digital
signal from the robot control system. The circuit from left to right begins with a
G1/2" thread used for the connection of the factory water supply system and ends
with a male M22 x 1.5. (Suitable for a Swivel nut adapter DIN 20 078 A, we
recommend a Parker 39C82-15-8BK fitting). From this point the water is led to the
gun/robot base.
xx0900000749
Water return circuit

The water return circuit monitors the flow of the returning cooling water from the
Spot welding gun (see figure below). The flow switch detects if the water flow is
too low in the cooling water circuit.
The flow switch gives a digital signal to the robot control system, which
automatically shuts off the electrical shut off valve in the water in circuit if the flow
is too low.
The system and the supply of cooling water are then automatically stopped to
minimize risk of damage to the system.
The water return circuit is delivered with a pre-set flow limit, set to 8 liters per
minute at 0.2 MPa water pressure.
The water return circuit begins from right with a Swivel Nut adapter (suitable for a
Swivel nut adapter 20 078 A, we recommend a Swivel nut adapter 39C82-15-8BK
fitting).
2.6.1 Introduction
Continued
It is also equipped with a flow control valve; the flow control can adjust the water
flow to the desired flow level. The flow rate can be monitored by the scale on the
flow control valve. The scale can be rotated so that easy reading can be performed.
This will serve as a rough function check in the flow range between 1 to 8 litres
per minute.
The flow control valve is when delivered adjusted for maximum flow.
The circuit ends with a check-valve that will stop any reversing water flow and ends
with an internal G ½" thread. From this point the water is led to the factory water
system.
xx0900000750
A second water return, option 793-1, is also available with the same specification
as above.
Air supply circuit

The air supply circuit provides the function package with filtered air (see figure
below).
The air supply circuit begins with a internal G ½" thread, manually operated shut
off valve with residual pressure release though a silencer, air filter with nominal
filtration of 5 µm with a metal protection of the bowl, a digital pressure switch and
a cross interface containing plugged air outlet ports (internal G 3/8" thread).
There is a digital pressure switch to monitor the air pressure and to give a signal
to the control system if the pressure becomes too low.
The pressure switch is delivered with pre-set pressure limit. There is a lower limit
set to 5 bar which means customer needs to provide at least 6 bar to overcome
the 1 bar pressure drop over the air preparation unit.

2.6.1 Introduction
Continued
The air supply circuit ends with a Swivel Nut adapter (suitable for a Swivel Nut
adapter 20 078 A, we recommend a Parker 39C82-15-8BK fitting).
xx0900000751

2.6.1 Introduction
Continued
Split box/Connection box

With the split box, the 24VDC supply and signals are connected and distributed to
the different units on the water and air unit, see figure below. The design makes
disconnection of separate items for service and repair on the water and air unit
very easy. The split box has a protection class IP67, which means it is well protected
against dust and water leakage.
xx0900000752

2.6.1 Introduction
Continued
Mounting
Type S, robot mounted spot welding gun, is mounted at the robot at factory and
water and air hoses are included and connected to the robot base.
xx0900000754
Type HS, robot handles part against a pedestal mounted spot welding gun, the
Water and Air panel is delivered in a box together with the robot.
Signals for water and air unit

Electrical connections to robot I/O board are made via the Split box on the Water
and Air unit or to connection box at robot base (the figure below shows Split box,
for connection box see the circuit diagram).
8 x M12 connections (4 pins) are available. The number in use depends on option
choices. But at least two are free connection and can be used for customer
purposes.
The Split box has six connections prepared for the following units:
• 1. Electric water shut off valve
• 2. Pressure switch
• 3. Flow switch 1
• 4. Flow switch 2 (Option 793-1 Second Water Return)
• 5. Proportional valve: Prop. ref. signal & pressure OK signal
• 6. Proportional valve: Power supply

2.6.1 Introduction
Continued
The cable and cable length between the Split box and the Spot Welding cabinet
must be specified (see option 797-1,-2,-3,-4). See the circuit diagram.
792-1 Water and Air unit, type S The basic water and air unit for type S is equipped
for a robot handled gun and with the following com-
ponents:
Water in circuit
Water return circuit
Air supply circuit
Split box
1/2 " hose between air supply circuit and manipulator
base (PROC 1) i
1/2 " hose between water in circuit and manipulator
base (PROC 2) i
1/2 " hose between water return circuit and manipu-
lator base (PROC 3) i
792-2 Water and Air unit, type HS The basic water and air unit for type HS is equipped
for a pedestal/stationary gun.
Hoses between water and air unit, welding equip-
ment and robot are not supplied. These have to be
arranged by the customer. i
793-1 Second water return The option adds an additional water return circuit.
See Water return circuit.
An additonal 1/2” water hose (PROC 4) from the
Water and Air unit to manipulator base is included.
797-1 Cable to split box, 7 m Offers floor cable of 7 m length for signals to the
split box placed on the water and air unit. This cable
is connected to the cabinet with a modular Harting
and it ends with a quick connector at the split box.
797-2 Cable to split box, 15 m Offers floor cable of 15 m length for the split box.
See description of option 797-1.
i For IRB 6700Inv hoses and adapter are not supplied. These have to be
arranged by the customer.

2.6.2 Technical data
2.6.2 Technical data
Media interface description

The interface towards the Water and Air unit is described in table below.
Type Pcs Specification
Incoming water 1 G 1/2” thread i
Outgoing water 1 G 1/2” thread (M22 x 1.5) i
Incoming air 1 G 1/2” thread i
Extra air outlet 1 G 3/8” thread ii
i Connection to be made by customer.
ii Plugged at delivery (to be used for tip-dresser or other equipment).
General data
Water Description
Operating pressure Max. 0.6 MPa / 87PSI
Proof pressure 1.2 MPa / 174 PSI
Maximum pressure drop < 0.2 MPa at 8 litre/minute i
Flow regulating (each circuit) 1 - 16 l/min
Water quality 140-170 mesh, 100 μm
i The pressure drop is measured under the following conditions:
• Measuring point 1: Incoming water connection at water and air unit.
• Measuring point 2: Outgoing water connection at water and air unit.
The water hoses (Proc 2 and Proc 3) are cross-connected at the end at axis 6 (the
pressure drop is measured without any tool).
Air Description
Operating pressure Max. 1.0 MPa / 145 PSI
Flow capacity Approximately 4000 litres/min. (at 0.7 MPa with a 0.1
MPa pressure drop
Pressure switch set range 0.100 - 1.000 MPa
Air quality Use clean air.
When there is excessive condensate, install a device
that eliminates water such as dryer or water separator
(Drain Catch) on the inlet side of the air filter.

2.7 Connection kits
2.7 Connection kits
General
For detailed information on connection location see Interface descriptions for
DressPack on page 111
Below is an example of how a connector kit and its parts can look like.
xx1300000223

2.7.1 Base - Connector kits
Available options
DressPack options Resolver conn., axis 7 Description

Option Name 798-3 864-1
459-1 CP/CS, Proc 1 on base X
453-1 FB 7 X
Note
Ethernet and Servo power connection kits not available.
Option 459-1, CP/CS, Proc 1 on base

R1. CP/CS and Proc 1 on base for option 798-3.
This option offers a kit with connectors. This must be assembled by the customer.
The kit contains:
• 1 Hose fittings (Swivel nut adapter, (½”, M22x1,5 Brass, 24 degree seal))
• Connector with:
1 pcs Hood Foundry (Harting) HAN EMC / M 40
1 pcs Hinged frame (Harting) Shell size 16
2 pcs Multicontact, female (Harting) Type HD (25 pin)
1 pcs Multicontact, female (Harting) Type DD (12 pin)
1 pcs Multicontact, female (Harting) Type EE (8 pin)
10 pcs Female crimp contacts For 1,5 mm 2
12 pcs Female crimp contacts For 0,14– 0,37 mm 2
45 sockets For 0,2– 0,56 mm 2
Assembly Accessories to complete connector
Assembly instruction

Continued
Option 453-1, FB 7
R3. FB 7 on base for option 864-1
This option offers a kit with a connector. This must be assembled by the customer.
The kit contains:
• Connector with:
1 pcs Multiple connector (pin) UTOW
1 pcs Adaptor 8 pin
8 pcs Pin for 0,13-0,25 mm 2

2.7.2 Axis 3 - Connector kits
Available options
DressPack options Description

Option Name 798-3
458-1 CP/CS,CBUS/SP/SS X UTOW
Proc 1 axis 3
Option 458-1, CP/CS/CBus/SP/SS, Proc 1 axis 3

CP/CS/CBus/SP/SS, Proc 1 axis 3 on tool side for option 780-3 and 780-4.
This kit offers a kit with connectors to be mounted at toolside of axis 3.
This must be assembled by the customer.
The kit contains:
• 1 Hose fitting (Parker Push lock (1/2”, M22x1,5 Brass, 24 degree seal))
• Connector with:
CP/CS
1 pcs UTOW Pin connector 26p, bulkhead UTOW71626PH05, Shell size 16
26 pcs Pin RM18W3K, 0.21-0.93 mm 2
CBUS
1 pcs UTOW Pin connector 10p, bulkhead UTOW71210PH05 Shell size 12
10 pcs Pin RM18W3K, 0.21-0.93 mm 2
Ethernet
1 pcs Socket connector M12 Harting 2103 88
4 pcs Socket Harting 61 03 0, 0.13-0.33 mm 2
SP (Servo Power)
1 pcs Bulkhead contact M23
4 pcs Crimp pin 1 mm AWG 24-17
SS (Servo Signal)
17 pcs Pin AWG 28-20

Available options
Description
Option Name 780-3 780-4
(MH 3) (LeanID)
543-1 CP/CS/CBUS/SP/SS Proc 1 axis 6 X X UTOW
452-1 Weld Proc 1-4 axis 6 X MC, Seperate
conductors
Option 543-1, CP/CS/CBus/SP/SS, Proc 1 axis 6

CP/CS/CBus/SP/SS, Proc 1 axis 6 on tool side for option 780-3 and 780-4.
This kit offers a kit with connectors to be mounted at toolside of axis 6.
This must be assembled by the customer.
The kit contains:
• 1 Hose fitting (Swivel nut adapter (1/2”, M22x1,5 Brass, 24 degree seal))
• Connector with:
CP/CS
1 pcs UTOW Pin connector 26p, bulkhead UTOW71626PH05, Shell size 16
26 pcs Pin RM81W3K, 0.21-0.93 mm 2
CBUS
1 pcs UTOW Pin connector 10p, bulkhead UTOW71210PH05 Shell size 12
10 pcs Pin RM18W3K, 0.21-0.93 mm 2
Ethernet
1 pcs Socket connector M12 Harting 2103 88
4 pcs Socket Harting 61 03 0, 0.13-0.33 mm 2
SP (Servo Power)
SS (Servo Signal)
17 pcs Pin AWG 28-20

Continued
Option 452-1, Weld, Proc 1-4 axis 6

Weld and Proc 1-4 axis 6 on manipulator side for option 780-4
The process cable package from axis 6 ends with free end for media and for weld
power cable. The option 452-1 offers a kit for connectors. This must be assembled
by the customer when hoses and power cable has been cut to required length.
The kit contains:
• 4 Hose fittings (Swivel Nut adapter, (2 x ½”, M22x1,5) and (2x 3/8", M16x1.5))
• 1 Multi contact connector (Female) type including:
• 1 pc Welding connector 3x25 mm 2
1 pc Cable gland Diameter 24-28 mm
1 pc End housing 0,21-0,93 mm 2
1 pcs Reducing coupling PG36/PG29

3 Specification of variants and options
3.1 Introduction to variants and options

3.1 Introduction to variants and options
General
The different variants and options for the IRB 6700 are described in the following
sections. The same option numbers are used here as in the specification form.
Related information
For the controller see Product manual - OmniCore C30.
For the software options see Application manual - Controller software IRC5.

3.2 Manipulator
3.2 Manipulator
Variants
Option IRB Type Handling capacity (kg) Reach (m)

435-111 6700 235 2.65
435-112 6700 205 2.80
435-113 6700 175 3.05
435-114 6700 150 3.20
435-115 6700 200 2.60
435-116 6700 155 2.85
435-126 6700 300 2.70
435-127 6700 245 3.00
435-138 6700Inv 300 2.60
435-139 6700Inv 245 2.90
Manipulator color
Option Description Note

209-1 ABB Orange standard
209-2 ABB White standard
209-202 ABB Graphite White standard Standard color
209-4 --192 Colors according to RAL-codes
Note
Notice that delivery time for painted spare parts will increase for none standard
colors.
Protection types
Option Protection type Note

287-4 Standard IP67
287-3 Foundry Plus 2 See Protection type Foundry Plus 2 on page 9 for a com-
plete description of protection type Foundry Plus 2.
Warranty

438-1 Standard warranty Standard warranty is 12 months from Customer Delivery
Date or latest 18 months after Factory Shipment Date,
whichever occurs first. Warranty terms and conditions
apply.
438-2 Standard warranty + 12 Standard warranty extended with 12 months from end
months date of the standard warranty. Warranty terms and con-
ditions apply. Contact Customer Service in case of other
requirements.

3.2 Manipulator
Continued

requirements.
requirements.
ditions apply.
ditions apply.
438-8 Stock warranty Maximum 6 months postponed start of standard war-
ranty, starting from factory shipment date. Note that no
claims will be accepted for warranties that occurred be-
fore the end of stock warranty. Standard warranty com-
mences automatically after 6 months from Factory
Shipment Date or from activation date of standard war-
ranty in WebConfig.
Note
Special conditions are applicable, see Robotics Warranty

Directives.
Warranty for DressPack
Note
Option 780-3 upper arm DressPack HM3 is not covered by warranty.
Note
Option 780-4 DressPack LeanID is covered by the warranty.

3.3 Equipment
3.3 Equipment
General

213-1 Safety lamp A 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.
159-1 Fork lift device IRB Lifting device on the IRB 6700 floor standing manipulator
6700 i for fork-lift handling.
Note. When Cooling Fan for axis 1 motor unit is used, this
must be disassembled in order to use fork lift device.
159-2 Fork lift device IRB For IRB 6700Inv hoses and adapter are not supplied. These
6700Inv i have to be arranged by the customer.
37-1 Base plate Can also be used for IRB 7600. See Installation on page 20,
for dimension drawing. ii
87-1 Cooling fan for axis For in use recommendations see Cooling fan for axis 1
1 motor (IP54) motor on page 97.
Not for protection Foundry Plus. Not together with track
motion.
430-1 Upper arm covers See Figure in Upper arm cover on page 171.
Included in protection Foundry.
804-1 Labels for synchron- For a more accurate marking of the synchronization posi-
ization markings tion of the robot. Assembly instructions are included.
See Figure for Synchronize labels, Axis 1 - 6.
i Its recommended to remove the fork lift devices after use
ii Can not be used for IRB 6700Inv.
Synchronization labels
The option contains labels for each axis. Below is an example of the synchronization
labels.
xx1300001127

3.3 Equipment
Continued
Upper arm cover
(A)
xx1400002039
Pos Description
A Option 430-1
Electronic 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 and Application manual - Electronic Position
Switches.
Resolver connection, axis 7

864-1 On base Used together with first additional drive, option 907-1.
Foundry Plus Cable Guard

The manipulator cables are equipped with an additional protection of aluminized
leather against e.g. aluminium spits and flashes and chips from machining. Process
cable for material handling from base to axis 3, option 798-3 has the same
protection.
908-1 Foundry Plus Cable For extra protection of cables.
Guard Requires option 287-3 Foundry Plus.

3.3 Equipment
Continued
Working range limitation

To increase the safety of the robot, the working range of axis 1 can be restricted
by extra mechanical stops.
29-1 Axis 1, 15 degrees Two stops which allow the working range to be restricted
in increments of 15 o .
(B) (A)
xx1400002035
Pos Description
A Two mechanical stops
B Bolt tightening torque: 60 Nm
Extended working range

561-1 Extended work To extend the working range on axis 1 from ± 170°to ±
range axis 1 220°.
When the option is used the mechanical stop shall be dis-
assembled.
EPS (Electronic Position Switches) functionality (option
810-1 or -2) is required. i
i This option is not available for IRB 6700Inv.
Standard calibration method

1999-1 Axis calibration Preferred standard calibration method. Robust, high
performance axis calibration using only mechanical
calibration stops and software.

3.3 Equipment
Continued

1999-2 Calibration Pendulum Previous standard calibration method only to be used
in special cases if customers would like to harmonize
calibration with already installed base. i
i This option is not available for IRB 6700Inv
Note
The calibration methods are not interchangeable.

3.4 Floor cables
3.4 Floor cables
General
Additional floor cables for SpotPack options, see SpotPack Floor Cables on page 180.
Manipulator cable length
Option Lengths
210-2 7m
210-3 15 m
210-4 22 m
210-5 30 m

3.5 Process DressPack
3.5 Process DressPack
Connection to
Option Connection to Description

16-1 Cabinet The signals CP/CS are connected to 12-pole screw terminals,
Phoenix MSTB 2.5/12-ST-5.08, in the controller. The cable
between R1.CP/CS and the controller is supplied. For inform-
ation about the limited number of signals available, see Type
H/HSe on page 117, and Type Se on page 130.
Communication

455-1 Parallel commu- Includes customer power CP, customer signals CS.
nication
455-4 Parallel and bus Includes CP, customer signals and CAN/DeviceNet or Profibus
communication for process cable package.
455-8 Parallel and Ether- Includes CP, customer signals and PROFINET or Ethernet/IP
net communica- for process cable package
tion

3.6 DressPack floor cables
3.6 DressPack floor cables
Connection to Parallel/CAN DeviceNet/Profibus/Ethernet

Following information specifies the cable length for Parallel,
CANDeviceNet/Profibus/Ethernet for connection to cabinet.
Option Lengths Description
90-2/92-2 7m
90-3/92-3 15 m
90-4/92-4 22 m
90-5/92-5 30 m

3.7 DressPack Lower and Upper arm
3.7 DressPack Lower and Upper arm
DressPack process configuration
Note
For more information about the process cable packages, see DressPack on
page 109

778-1 Material Handling Includes signals and one air hose.
778-2 Spot Welding Includes signals, weld power cable, one air hose and
three media hoses.
DressPack lower arm

798-3 Routing from base to Material Handling / Spot Welding
axis 3
DressPack upper arm

780-3 External routing from Requires option 778-1 and option 798-3 i .
axis 3 to axis 6
780-4 Internal routing from Requires option 798-3. i
axis 3 to axis 6
i Upper arm cabling is not available for IRB 6700Inv together with option Foundry plus 2.
Note
If option 780-4, LeanID, is selected the payload will decrease, for detailed
information see Load diagrams on page 35

3.8 Connection kits
3.8 Connection kits
General
The connectors fit to the connectors at the manipulator base, axis 3 and 6
respectively.
Content
The kit consists of connectors, pins and sockets. For technical description, see
Connection kits on page 161.

459-1 R1.CP/CS, PROC1 For the Customer Power/Customer Signal connector
and one Process connector on the manipulator base.
Sockets for bus communication are included.
453-1 R3.FB7 For the 7-axis connector on the manipulator base.
458-1 R2.CP/CS, PROC1 For the Customer Power/Customer Signal connector
and one Process connector at axis 3. Pins for bus
communication are included.
452-1 Weld, PROC1-4 axis 6 Weld connector and four Process connectors at axis
6, the manipulator side.
543-1 CP/CS/BUS, PROC1 axis 6 Connector for customer power/customer signal/cus-
tomer bus at axis 6 tool side.

3.9 Servo Gun
3.9 Servo Gun
Content
For technical description see Servo gun on page 98.
Option Lengths
785-1 For robot handled Servo Gun.
785-2 For Stationary Servo Gun.
Connection to first drive

Following information specifies the cable length for Connection to first drive. For
further information see Servo gun on page 98.
Option Lengths
786-1 7m
786-2 15 m
786-3 22 m
786-4 30 m

3.10 SpotPack Floor Cables
3.10 SpotPack Floor Cables
Weld Power Cable

Following information specifies the cable length for the Weld Power cable, from
the Spot Welding process cabinet to the manipulator base.
Option Lengths Description
791-1 7m
791-2 15 m
Process Cable to Stationary Gun

Following information specifies the cable length for the Process Cable to the
Stationary Gun, from the Spot Welding process cabinet to the Stationary Gun.
Option Lengths
809-1 7m
809-2 15 m
Cable to Split Box

Following information specifies the cable length for the cable to Split Box, from
the Spot Welding process cabinet to the Split box on the manipulator base.
Option Lengths
797-1 7m
797-2 15 m
797-3 22 m
797-4 30 m

3.11 Process cabinet
3.11 Process cabinet
Empty cabinet

768-1 Empty cabinet small See Product specification - Controller
IRC5 with FlexPendant
768-2 Empty cabinet large See Product specification - Controller
715-1 Installation kit See Product specification - Controller

3.12 Water and air
3.12 Water and air
Water and air unit

792-1 Type S DressPack floor
792-2 Type HS/HSe DressPack floor
Second water return

793-1 Second water return DressPack floor

3.13 User documentation
3.13 User documentation
User documentation
The user documentation describes the robot in detail, including service and safety
instructions.
All documents can be found via myABB Business Portal, www.myportal.abb.com.

This page is intentionally left blank
4 Accessories
4.1 Introduction to accessories
4 Accessories
4.1 Introduction to accessories
General
There is a range of tools and equipment available, especially designed for the
manipulator.
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.
Robot peripherals
• The Track Motion is not adapted for the remote connector plate on IRB 6790
and the air supply needed for the overpressure in manipulator and the air
pressure supervision.
• Motor Units

This page is intentionally left blank
Index
Index I
instructions, 183
A M
Absolute Accuracy, 32 manuals, 183
MultiMove, 34
Absolute Accuracy, calibration, 30 O
accessories, 185 options, 167
C P
calibration product standards, 18
Absolute Accuracy type, 29
standard type, 29 S
calibration, Absolute Accuracy, 30 safety standards, 18
Calibration Pendulum, 31 service instructions, 183
CalibWare, 29 standards, 18
category 0 stop, 96 ANSI, 19
category 1 stop, 96 CAN, 19
compensation parameters, 32 EN, 18
EN IEC, 18
D EN ISO, 18
documentation, 183 standard warranty, 168
DressPack warranty, 169 stock warranty, 168
stopping distances, 96
E stopping times, 96
Electronic Position Switches, 171
EPS, 171 U
equipment, on robot, 70 user documentation, 183
F V
fine calibration, 31 variants, 167
fitting equipment to robot, 70
W
H warranty, 168
holes for equipment, 70 warranty for DressPack, 169

ABB AB, Robotics
Robotics and Motion
S-721 68 VÄSTERÅS, Sweden
Telephone +46 (0) 21 344 400
ABB AS, Robotics

Robotics and Motion
Nordlysvegen 7, N-4340 BRYNE, Norway
Box 265, N-4349 BRYNE, Norway
Telephone: +47 22 87 2000
ABB Engineering (Shanghai) Ltd.

Robotics and Motion
No. 4528 Kangxin Highway
PuDong District
SHANGHAI 201319, China
Telephone: +86 21 6105 6666
ABB Inc.
Robotics and Motion
1250 Brown Road
Auburn Hills, MI 48326
USA
Telephone: +1 248 391 9000
abb.com/robotics
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© Copyright 2019 ABB. All rights reserved.

© Copyright 2019 ABB. All rights reserved.

2 DressPack and SpotPack 103

Product specification - IRB 6700 5

2.3.5 Summary options required for Type HSe ..................................................... 129

3 Specification of variants and options 167

6 Product specification - IRB 6700

Overview of this product specification

Continues on next page

C • Text for Foundry Plus updated.

8 Product specification - IRB 6700

Software product range

Protection type Foundry Plus 2

Continues on next page

Typical applications are spraying insertion and part extraction of die-casting

Available robot versions

Continues on next page

Pos Description Pos Description

Product specification - IRB 6700 11

1.1.2 Different robot versions

12 Product specification - IRB 6700

1.1.3 Definition of version designations

IRB 6700 mounting

Robot type Weight

Other technical data

Data Description Note

Power consumption at max load

Continues on next page

Continues on next page

Main dimensions of IRB 6700

Continues on next page

Continues on next page

Main dimensions of IRB 6700Inv

Product specification - IRB 6700 17

1.2.1 Applicable standards

Continues on next page

Product specification - IRB 6700 19

1.3.1 Introduction to installation

Working range limitation

20 Product specification - IRB 6700

1.3.2 Operating requirements

Robot version/Protection standard IEC 60529

Description Standard/Option Temperature

Description Relative humidity

Product specification - IRB 6700 21

1.3.3 Assembling the manipulator

Force Endurance load (in operation) Max. load (emergency stop)

Force Endurance load (in operation) Max. load (emergency stop)

Continues on next page

Note regarding Mxy and Fxy

Fastening holes robot base - for all variants

Continues on next page

Suitable screws: M24 x 100 (installation on base

Continues on next page

Base plate drawing

IRB 6700Inv is not valid for base plate.

0,2 Common Zone E, F, G, H