4 Technical Specifications 4.4 Moti

4 Technical Specifications

4.4 Motion Configuration Parameters
4.4Motion Configuration Parameters
General The motion configuration is dependent on the manipulator configuration, asdescribed in the following.

Reference
The parameters can be changed in RobotStudio under Motion Type: Robot.

For more information, see ‘Technical ReferenceManual, System Parameters’, Topic
Motion / Type Robot / Base Frame q1, q2, q3, q4.

Configuration A/B
The motion configuration for manipulator configuration A/B supports aninstallation position of the manipulator that is80° out of the horizontal plane, asshown in illustration below.

Figure 14 Base frame orientation, configuration A/B

Y Z
X
Z
X
Y
80° 80°
Configuration A
Configuration B


:Y axis perpendicular intopaper
:Y axis perpendicular outofpaper
Following table shows the baseframe quaternions and gravity beta parameters forthe installation position of the manipulator configuration Aand B to obtain a correctworld frame.

Configuration

q1

q2

q3

q4

Gravity beta

A /B

0

-0.64278761

0

0.766044443

1.39626

This is derived from the robot’s orientation relative to a normal conveyorinstallation, which isfirst rotated 180° around the z-axis and then 80° around the
y-axis.

Please note that the standard position of this robot is just at the point where the signsof q2 and q4 are reversed (equivalent to +/- 180 degrees). That means that just a
little adjustment, such as when teaching the Robot Base Frame with the robot, may
produce correct numbers that are numerically close to this example, but withreversed signs.

Product manual, IRB 5500
3HNA015911-001 en Rev.10


4 Technical Specifications

4.4 Motion Configuration Parameters
Vertical Configuration Themotion configurationofthe manipulator vertical configuration supportsa ±15°

tilted installation position, as shown in illustration below.

Figure 15 Base frame orientation, vertical configuration

X XY Y
Z Z
15° 15°
Vertical Configuration A Vertical Configuration B

: Y axis perpendicular intopaper :Yaxis perpendicular out of paper

Following table shows the baseframe quaternions and gravity beta parameters foreach installation position of the manipulator vertical configuration to obtain a
correct world frame.

Configuration q1 q2 q3 q4 Gravity beta
A nottilted 0.70710678 0 0 0.70710678 0
A tilted+15° 0.70105738 -0.092295956 0.092295956 0.70105738 0.26179939
A tilted-15° 0.70105738 0.092295956 -0.092295956 0.70105738 -0.26179939
B nottilted 0.70710678 0 0 -0.70710678 0
B tilted+15° 0.70105738 0.092295956 0.092295956 -0.70105738 0.26179939
B tilted-15° 0.70105738 -0.092295956 -0.092295956 -0.70105738 -0.26179939

This is derived from the robot’s orientation relative to a normal conveyorinstallation, which isfirst rotated 90° around the z-axis and then 15° around they-axis.

3HNA015911-001 en Rev.10 Product manual, IRB 5500


4 Technical Specifications

4.5 Hollow Wrist Specifications
4.5 Hollow WristSpecifications
General Specifications
Ingress protection degree

IP54
Standard seals

Viton. A
Optional seals

Viton. ExtremeETP

Standard the hollowwrist is equipped with Viton. A seals.The Viton. Extreme ETP sealsprovide an increased chemical resistance.

Range of Motion

Axis 4 - Rotation motion

Unlimited

Axis 5 -Bendmotion

Unlimited

Axis 6 - Turn motion

Unlimited

Working envelope

± 140°

Performance

Velocity Axis4

465°/s

Velocity Axis5

350°/s

Velocity Axis6

535°/s

Permitted Load on Wrist
The diagram below shows the maximum load which can be handled by the hollowwrist. The diagram is restricted by load capacity ofthe arms, see’Permitted LoadonArm’ on page 46. The maximum load is depending on the distance and offset from
the wrist flange to thecenter of gravityof theload.

Product manual, IRB 5500
3HNA015911-001 en Rev.10


4 Technical Specifications

4.5 Hollow Wrist Specifications
Figure 16 Load diagramfor hollowwrist

CG
Centerline
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
0.4
0.45
0.5
Distance fromflange Z [m]
10
10
10
10
1013 12 11
13
12
11
13
12
11
Distance from
centerline R [m]
R
Z
Flange
Wrist
Basic Design
The illustration below shows the basic design of the hollowwrist with the innerflexible tube and including an example of an applicator attachment and anapplicator. The illustration also shows the dimensions for the mounting flange onthe wrist front. The information may be used for making an applicator attachmentetc.

3HNA015911-001 en Rev.10
Product manual, IRB 5500


4 Technical Specifications

4.5 Hollow Wrist Specifications
Figure 17 Hollow wrist, basic design

.71 hose
guide tube
Axis 3 arm
Center hole Supply hoses Connection
Applicator
attachment
Applicator
Hollow wristunit
Inner flexible tube

Attachment holes
10xM6 Depth 10mm

Axis 4
Axis 6
Axis 5
140 degrees
.63.102
.93H8.116
A
A
Holes for alignmentpins
on attachment2x.4H7
FRONT VIEW Inner tube
FRONT
Section A-A
TCP Reference point
12x30°
Product manual, IRB 5500 3HNA015911-001 en Rev.10


4 Technical Specifications
4.6 Foot Unit Specifications
44 3HNA015911-001 en Rev.10 Product manual, IRB 5500
4.6 Foot Unit Specifications
Description The foot unit is the base for the wall mounted robot.
The illustration below shows the manipulator foot unit with measurements for
mounting holes and overall size.
Figure 18 Foot unit dimensions
450
33
500
450
600 680
.17
Dimensions in mm

4 Technical Specifications

4.7 Pneumatic Cabinet Specifications
4.7Pneumatic Cabinet Specifications
Description The pneumatic cabinet contains several pneumatic components.

The illustration below shows the pneumatic cabinet with measurements formounting holes and overallsize.

Figure 19 Pneumatic cabinet, template and dimensions


Top view

Side view Front view
640 600
14.5 560
600 360
10
.10.5
.18
20
Bottom view

Product manual, IRB 5500 3HNA015911-001 en Rev.10


4 Technical Specifications

4.8 Permitted Load on Arm
4.8 Permitted Load on Arm
General
Various equipment such as atomizer, 2K mixer, etc., may be mounted on the robotarm. Exactly how muchthat can be mounted on the arms depends on theposition ofthe load, or more exact, on the coordinates of the centers of gravity of the load onthe axis 2 arm, the load on the axis 3 arm and the tool load. The following section
describes how to find the maximum loads which can be mounted on the arm. For
information on load which can be mounted on the wrist, see ’Permitted Load onWrist’ on page 41.

Important Notes
All loads described refer to a ‘naked’ robot. If extra components are already present,
the weight of these components must be subtracted from the calculated weights.

Keep in mind that any load on the manipulator will reduce the robot’s capability toaccelerate. As this might have consequences for the cycle time, the load should bekept as low as possible, and should be mounted as close to the center of rotation or
to the base of the manipulator as possible.

It is of great importance that the controller has an exact description of the extra
loads to be able to generate optimal paths and thus avoiding inaccurate motion
performance. For information, see ‘TechnicalReference Manual, SystemParameters’, Topic Motion / Type ArmLoad.

Configuring less load than is actually mounted on the robot arms will lead to motortorques exceeding their limits with possible overheating and/or reduction of lifetimeof motors and gearboxes. This case is not covered by the robot warranty.

Releasing Axis Brakes
Special caution must be taken whenreleasing axis brakes(both main axes and wrist
axes). The robot arm and wrist must be suspended or supported as none of the axesare counter balanced.

The robot axes must never be released without first having read the axis brakesrelease instructions under ’Releasing Axis Brakes’ on page 111.

Maximum Loads
For the amount of paint equipment that can be mounted on the manipulator, the
critical factor for the maximum load is the gravitational torque. An evaluation of the
gravitational torque is normally considered sufficient for determining max. load.

3HNA015911-001 en Rev.10
Product manual, IRB 5500


4 Technical Specifications
Product manual, IRB 5500 3HNA015911-001 en Rev.10 47
4.8 Permitted Load on Arm
Figure 20 Location of loads on robot arm
mv: Mass of load on axis 2 arm
mh: Mass of load on axis 3 arm
mt: Mass of load on tool
lmv: Distance from center of rotation axis 2 to COG of mv
lmh: Distance from center of rotation axis 3 to COG of mh
lmt: Distance from wrist flange to COG of mt
The following formulas are normally sufficient accurate to evaluate the actual
gravitational load:
Axes 1 and 2:
Tgrav=[mv*lmv+mh*(1.3+lmh)+mt*(1.3+1.7+lmt)]*9.8
Axis 3:
Tgrav=[mh*lmh+mt*(1.7+lmt)]*9.8
Mass in kg
Length in m
These values must not exceed the following values:
Note: Wrist load must not exceed 13kg. See ’Permitted Load on Wrist’ on page 41.
Maximum gravitational torque
0 pump motors 1 pump motor 2 pump motors
Axis 1 1100 Nm 1050 Nm 1000 Nm
Axis 2 1100 Nm 1050 Nm 1000 Nm
Axis 3 350 Nm 350 Nm 350 Nm
CG
1.3
1.72
COG, Center of gravity
Imh
Imv
Imt
mv
mh
mt

4 Technical Specifications
4.9 Dimensions
48 3HNA015911-001 en Rev.10 Product manual, IRB 5500
4.9 Dimensions
Description The following pages include dimension drawings for the IRB 5500 robot. The
dimensions for all manipulator configurations are identical, the illustrations show
therefore configuration A only.
Figure 21 - Top view
Figure 22 - Front view
Figure 23 - Side view
Figure 21 Dimensions IRB 5500 configuration A, top view
971.5
450.5
500

4 Technical Specifications
Product manual, IRB 5500 3HNA015911-001 en Rev.10 49
4.9 Dimensions
Figure 22 Dimensions IRB 5500 configuration A, front view
Figure 23 Dimensions IRB 5500 configu

結果 (中文) 1:

4 技术规格4.4 运动配置参数4.4Motion 配置参数一般运动配置是依赖于机械手配置，在以下的信息流。引用可以在 RobotStudio 下运动类型中更改参数: 机器人。更多的信息，请参阅技术 ReferenceManual，系统参数 '，主题运动 / 仿人型机器人 / 基地框架 q1，q2，q3，q4。配置 A / B运动配置机械手配置 A / B 支持牵引机械手的位置从水平的飞机上，已经吊在图中那 is80 °。图 14 底座定位、 配置 A / B+ Y + ZXZXY80 ° 80 °配置 A配置 B: Y 轴垂直 intopaper: Y 轴垂直 outofpaper下表显示的要点四元数和重力 β 参数为机械手配置拥有 a、 B 获得 correctworld 框架的安装位置。配置第 1 季度第 2 季度第 3 季度第 4 季度重力测试版/B0-0.6427876100.7660444431.39626这来自机器人的方向相对于正常的 conveyorinstallation，其中 isfirst 旋转 180 ° 绕 z 轴，然后周围 80 °y 轴。请注意，这种机器人的标准位置是只点惹恼 q2 和 q4 冲帐 (相当于 + /-180 度)。那只是意味着小小的调整，比如当教学机器人基础坐标系与机器人，5 月生成此示例，但浓度迹象数值相近的正确数字。产品使用说明书，IRB 55003HNA015911-001 en Rev.104 技术规格4.4 运动配置参数垂直配置万向节 configurationofthe 机械手垂直配置 supportsa ± 15 °倾斜安装位置，如下面的插图所示。图 15 基础框架的方向，垂直配置X XY YZ Z15 ° 15 °垂直配置 A 垂直配置 B: Y 轴垂直 intopaper: y 轴垂直没纸了下表显示的要点四元数和重力 β 参数要获得的机械手垂直配置 foreach 安装位置正确的世界框架。配置第 1 季度第 2 季度第 3 季度第 4 季度重力测试版Nottilted 0.70710678 0 0 0.70710678 015 ° 倾斜 + 0.70105738-0.092295956 0.092295956 0.70105738 0.26179939倾斜 15 ° 0.70105738 0.092295956-0.092295956 0.70105738-0.26179939B nottilted 0.70710678 0 0-0.70710678 0B 15 ° 倾斜 + 0.70105738 0.092295956 0.092295956-0.70105738 0.26179939B 倾斜 15 ° 0.70105738-0.092295956-0.092295956-0.70105738-0.26179939这被来自机器人的方向相对于正常的 conveyorinstallation，其中 isfirst 旋转 90 ° 绕 z 轴，然后围绕他们轴 15 °。3HNA015911-001 en Rev.10 产品手册，IRB 55004 技术规格4.5 空心手腕规格4.5 空心 WristSpecifications通用技术条件入口保护程度IP54标准密封件氟橡胶。A可选的密封件氟橡胶。ExtremeETPHollowwrist 标准配备氟橡胶。密封件。氟橡胶。极端的 ETP sealsprovide 化学阻力增加。运动范围4-旋转运动轴无限轴 5-Bendmotion无限轴 6-转身的动作无限工作信封± 140 °性能速度 Axis4465 ° /s速度 Axis5350 ° /s速度 Axis6535 ° /s手腕上允许负载下图显示的最大负荷，可以由 hollowwrist 处理。图中受负载能力的武器，see'Permitted LoadonArm' 上 46 页。最大负载取决于距离和偏移量从手腕法兰与比重计计测中心。产品使用说明书，IRB 55003HNA015911-001 en Rev.104 技术规格4.5 空心手腕规格图 16 负载最后 hollowwristCG中心线0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.500.050.10.150.20.250.30.350.40.450.5距离 fromflange Z [m]101010101013 12 11131211131211距离中心线 R [m]RZ法兰手腕基本设计The illustration below shows the basic design of the hollowwrist with the innerflexible tube and including an example of an applicator attachment and anapplicator. The illustration also shows the dimensions for the mounting flange onthe wrist front. The information may be used for making an applicator attachmentetc. 3HNA015911-001 en Rev.10 Product manual, IRB 5500 4 Technical Specifications 4.5 Hollow Wrist Specifications Figure 17 Hollow wrist, basic design .71 hose guide tube Axis 3 arm Center hole Supply hoses Connection Applicator attachment Applicator Hollow wristunit Inner flexible tube Attachment holes 10xM6 Depth 10mm Axis 4 Axis 6 Axis 5 140 degrees .63.102 .93H8.116 A A Holes for alignmentpins on attachment2x.4H7 FRONT VIEW Inner tube FRONT Section A-A TCP Reference point 12x30° Product manual, IRB 5500 3HNA015911-001 en Rev.10 4 Technical Specifications 4.6 Foot Unit Specifications 44 3HNA015911-001 en Rev.10 Product manual, IRB 5500 4.6 Foot Unit Specifications Description The foot unit is the base for the wall mounted robot. The illustration below shows the manipulator foot unit with measurements for mounting holes and overall size. Figure 18 Foot unit dimensions 450 33 500 450 600 680 .17 Dimensions in mm4 Technical Specifications 4.7 Pneumatic Cabinet Specifications 4.7Pneumatic Cabinet Specifications Description The pneumatic cabinet contains several pneumatic components. 下图显示带有测量 formounting 孔和 overallsize 气动内阁。图 19 气动内阁、 模板和尺寸顶视图前视图侧视图640 60014.5 560600 36010.10.518 级20底部视图产品手册，IRB 5500 3HNA015911-001 en Rev.104 技术规格4.8 手臂上的允许负载4.8 手臂上的允许负载一般雾化器、 2 K 搅拌机等各种设备可安装在 robotarm。到底如何 muchthat 可以安装在武器上取决于的负载，或更确切，负载轴 2 在胳膊上，重心的坐标 3 轴臂上的负载和工具负载。下一节介绍如何查找最大载荷，可以安装在手臂上。为可以安装在手腕的负载信息看到 '允许加载 onWrist' 41 页。重要说明所述的所有负载是都指 '裸' 的机器人。如果额外的组件已经存在，这些组件的重量必须减去计算权重。请记住任何加载上料机械手将减少机器人的能力正规化。周期时间，这可能产生的后果，负荷应保持尽可能低，以及应尽可能靠近旋转中心的安装或为尽可能机械手的基础。它具有重要意义，该控制器具有额外的确切描述加载要能够生成最优路径，从而避免不准确的议案性能。有关信息，请参阅 ' TechnicalReference 手册，系统参数，主题运动 / 类型鱼贯而入。配置比实际上安装在机器人手臂的负载更少，会导致 motortorques 超过他们可能过热和/或减少 lifetimeof 马达和齿轮箱的限制。这种情况下不受机器人保修。释放轴刹车特别要小心 whenreleasing 轴刹车 (主轴和手腕轴)。机器人手臂和手腕必须暂停或支持为 none axesare 计数器平衡。机器人轴必须永远不会释放，没有第一次读过轴 brakesrelease 指令下释放轴刹车上 111 页。最大载荷金额可以安装在机械臂的油漆设备最大负载的关键因素是引力的扭矩。评价引力扭矩通常被认为是足以确定最大的。负荷。3HNA015911-001 en Rev.10产品使用说明书，IRB 55004 技术规格产品手册，IRB 5500 3HNA015911-001 en Rev.10 474.8 手臂上的允许负载图 20 的机器人手臂上的荷载位置mv: 大规模的轴 2 手臂上的负载mh: 大规模的 3 轴臂上的负载mt: 大规模的工具上的负载lmv: 到 mv 齿轮旋转轴 2 的中心距离李民浩: mh 齿轮旋转轴 3 的中心距离lmt: 从手腕法兰到 mt COG 的距离下面的公式是通常足够准确地判断实际重力负载:轴 1 和 2:Tgrav=[mv*lmv+mh*(1.3+lmh)+mt*(1.3+1.7+lmt)] * 9.8轴 3:Tgrav=[mh*lmh+mt*(1.7+lmt)] * 9.8大众在公斤在 m 的长度这些值不得超过以下值:注意: 腕关节负荷不能超过 13 公斤。在第 41 页上看到 ' 允许的负载，手腕上 '。引力的最大扭矩0 泵电机 1 泵电机 2 泵电机轴 1 1100 Nm 1050 Nm 1000 毫微米轴 2 1100 Nm 1050 Nm 1000 毫微米3 350 轴 Nm 350 Nm 350 NmCG1.31.72COG 的重心ImhImvImtmvmhmt4 技术规格4.9 尺寸48 3HNA015911-001 en Rev.10 产品手册，IRB 55004.9 尺寸描述下面的内容包括维度的 IRB 5500 机器人的图纸。的机械手的所有配置的尺寸是相同的插图显示因此一个唯一的配置。图 21-顶视图图 22-前视图图 23-侧视图图 21 尺寸 IRB 5500 配置 A，顶视图971.5450.55004 技术规格产品手册，IRB 5500 3HNA015911-001 en Rev.10 494.9 尺寸图 22 尺寸 IRB 5500 配置 A 前, 视图图 23 尺寸 IRB 5500 配置

結果 (中文) 3:

4技术规格

4.4运动参数配置
4.4motion配置参数
一般的运动配置依赖于机械手的配置，按照以下。

参考
参数可以改变RobotStudio下运动类型：机器人。

更多信息，参见“技术参考手册中，系统参数，主题
运动/机器人/底座Q1，Q2，Q3，Q4。

配置A / B
运动配置的机械手配置A / B支持安装位置的机械手，为°出水平面，如下图。图14基本帧定向，配置1╱z 8000 8000 8000 8000 8000 80个80个：Y轴垂直出了许
：Y轴垂直outofpaper
表显示机械手配置A、B机座的四元数和重力β参数的安装位置以获得正确的世界框架。

配置

Q1 Q2



Q3

Q4

重力β

A/B

0

-0.64278761

0

0.766044443

1.39626

这是来自机器人的方向，相对于正常的输送机的安装，其中先绕Z轴旋转180°然后80°在
Y轴。

请注意，该机器人的标准位置是在Q2和Q4是反转的迹象（相当于/ 180度）。这意味着仅仅是一个小小的调整，当教学机器人的底座与机器人等，可能
产生数值接近这个例子正确的数字，但withreversed迹象。

产品手册，IRB 5500
3hna015911-001 EN rev.10


4技术规格

4.4运动参数配置
垂直配置机械手运动configurationofthe垂直配置支持±15°

倾斜的安装位置，如下图所示。

图15底座定位，垂直配置

X XY Y
Z
15°15°
垂直结构的垂直配置B

：Y轴垂直轴垂直的出纸出了许：

下表显示了机械臂垂直配置机座的四元数和重力测试参数每个安装位置以获得
正确的世界框架。

Q1 Q2 Q3 Q4配置重力β
一nottilted 0.70710678 0 0 0.70710678 0 15 0.70105738
倾斜°-0.092295956 0.092295956 0.70105738 0.26179939 0.70105738 0.092295956
一tilted-15°-0.092295956 0。70105738 -0.26179939预热器nottilted 0.70710678 B 0 B 0 0 -0.70710678 tilted 15 0.70105738 0.092295956 0.092295956 -0.70105738 0.26179939预热器15 B tilted 0.70105738 -0.092295956 -0.092295956 -0.70105738 -0.26179939 this is from the
S源性取向正常的机器人相关的conveyorinstallation，which the isfirst在Z轴旋转90度，然后在他们的轴15。预热器3hna015911-001 EN rev.10产品手册，IRB 5500


4技术规格

4.5中空手腕规格
4.5空心wristspecifications
一般规格
入口防护等级IP54标准




氟橡胶密封。一个
可选

氟橡胶密封件。extremeetp

标准hollowwrist配备氟橡胶。一个密封的氟橡胶。极端的ETP sealsprovide增加耐化学性。

运动范围

轴4旋转运动

无限

轴5 bendmotion

无限

轴6旋转运动

无限

工作包络

±140°

性能

速度axis4

465°/

速度axis5

°/ 350

速度axis6

535°/

允许负荷手腕
下图所示的最大负荷可由hollowwrist。图是由负载能力的武器的限制，see'permitted loadonarm”46页。最大载重量是根据距离和偏移
手腕法兰重力负荷中心。

产品手册，IRB 5500
3hna015911-001 EN rev.10


4技术规格

4.5中空手腕规格
负载图16图hollowwrist

CG
中线
0 0.05 0.1 0。15 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0 0.05 0.1



0.15
0.2
0.25
0.3
0.35
0.4
0.45
0.5
距离fromflange Z [M]
10
10


1013 12 11 10 10 13 12 11



13
12
11
距离
中线R [M]
R
Z
法兰
手腕
基本设计
下面的插图显示的innerflexible管hollowwrist基本设计包括一个喷头附件和anapplicator例。插图还显示了在手腕前安装法兰的尺寸。该信息可用于制作器attachmentetc。

3hna015911-001 EN rev.10
产品手册，IRB 5500


4技术规格

4.5中空手腕规格
图17空心手腕，基本设计

。71软管
导管
轴中心孔3臂
供应软管连接
涂抹
附件
涂抹
空心wristunit
柔性管连接孔内


10xm6深度10mm

轴4轴6

5轴
140度
。63.102
。93h8.116
一
一
孔上alignmentpins
attachment2x.4h7