3HEA802965 PS IRBT 4004-6004-7004-En

ROBOTICS
Product specification
IRBT 4004/6004/7004
Trace back information:
Workspace 19D version a10
Checked in 2019-12-10
Skribenta version 5.3.033
Product specification
IRBT 4004
IRBT 6004
IRBT 7004
Document ID: 3HEA802965-001
Revision: AA
© Copyright 2006-2019 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 specification .......................................................................................................... 7
1 Description 11
1.1 Structure ......................................................................................................... 11
1.1.1 Introduction ............................................................................................ 11
1.1.2 Technical data for the track motion ............................................................. 13
1.1.3 Measures of the carriage table ................................................................... 20
1.1.4 Mounting of manipulator on track ............................................................... 24
1.2 Standards ........................................................................................................ 25
1.2.1 Applicable standards ............................................................................... 25
1.3 Installation ....................................................................................................... 27
1.3.1 Introduction ............................................................................................ 27
1.3.2 Operating requirements ............................................................................ 29
1.3.3 Hole configuration ................................................................................... 32
1.4 Motion ............................................................................................................. 34
1.4.1 Introduction ............................................................................................ 34
1.4.2 Performance .......................................................................................... 37
1.4.3 Velocity ................................................................................................. 38
1.4.4 Positioning time ...................................................................................... 39
1.4.5 Stopping distance/time ............................................................................. 40
1.5 Maintenance and troubleshooting ......................................................................... 41
1.5.1 Introduction ............................................................................................ 41
2 Specification of variants and options 43

2.1 Introduction to variants and options ...................................................................... 43
2.2 Track motion .................................................................................................... 44
2.3 Floor cables ..................................................................................................... 47
2.4 DressPack Floor ............................................................................................... 52
2.5 User documentation .......................................................................................... 54
Index 55
Product specification - IRBT 4004/6004/7004 5

3HEA802965-001 Revision: AA
This page is intentionally left blank
Overview of this specification

About this product specification
This product specification describes the performance of the track motion in terms
of:
• The structure and dimensional prints
• The fulfilment of standards, safety and operating requirements
• The load diagrams, mounting of extra equipment, the motion and 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
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 - IRBT 4004/6004/7004 3HAC028506-001
Product manual - IRB 4400 3HAC022032-001
Product manual - IRB 6640 Foundry Prime 3HAC040586-001
Product specification - Robot user documentation, IRC5 with RobotWare 3HAC052355-001
6
Revisions
Revision Description
- New product specification
Continues on next page

Continued
A Updates in chapter Variants and Options
B Adapted for IRB 6640 and IRB 6620
C Tip Dresser deleted
D Warranty text added
E Added information about SafeMove
F Adapted for IRB 4600
G Options Zone division and position switches removed
H Updated Customer communication options
J Text for Standards updated
K Double and Mirrored carriage added
L • Table for ambient temperature adjusted
• Minor corrections
• Clarifying how to order a double carriage
M • Cable length for central lubrication changed
• Diameter of a hole in the stand has changed from 24 mm to 25 mm,
see Hole configuration on page 32.
N • General updates/corrections
• Several corrections and completions are added to the section for
technical data and measurements, regarding required space for install-
ation etc., see Technical data for the track motion on page 13.
• Measurement is added to the figure Dimension in section Hole config-
uration on page 32.
P • Added info regarding performance
• Info regarding forces corrected
Q • Minor corrections/update
• Dimensions for new version of cable chain added
R • Minor corrections/update
S • Color options are added
T This revision includes following updates/corrections:

• Added note about fatigue calculations to Force table, see Forces on
page 30.
• Updated measurements due to removal of guide hole, see Introduction
on page 34.
• Updated measurement of position A for travel lengths of single and
double carriage, see Travel length on page 13.
• Updated length of Murrplastik cable chain, see Formula for single
carriage track on page 15.
• Added stopping distance and positioning time for IRB 6700, see
Stopping distance/time on page 40, and Positioning time on page 39.
• Added maximum floor loads for IRB 6700, see Operating requirements
on page 29.
U • Measures for required space for single carriage track adjusted
V • Option 1011-1 Brake release unit removed.
X • Updated list of applicable standards.
Y Published in release R18.1. The following updates are done in this revision:
• Minor changes in Mounting of manipulator on track section.

8 Product specification - IRBT 4004/6004/7004
Continued
Z Published in release R19B The following updates are done in this revision:
• Add guiding pins for robot pedestal of IRB 6700.
• Graphic in Installation of standard and mirrored track section improved.
AA Published in release R19D The following updates are done in this revision:
• Weight of pedestal for IRBT 4004 changed. See Weight of pedestal
on page 18.

1 Description
1.1.1 Introduction
1 Description
1.1 Structure
1.1.1 Introduction
General
Track Motion IRBT 4004, IRBT 6004 and IRBT 7004 expands the movement pattern
of the robot with a an extra degree of programmable freedom. Two more types are
now available, one mirrored track and one with double carriages.
The movement on the track motion is programmed using the robot FlexPendant
in the same way as the robot’s other axes.
Foundry
The version Foundry is designed for harsh environments. The connectors are
designed for severe environments, and bearings, gears and other sensitive parts
are highly protected.
Operating system
The IRBT 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
Performance
The IRBT track motion and its respective robot is a seven-axis dynamic model.
ABB’s unique QuickMove and TrueMove can be fully exploited, which means
optimal movement for the robot and the track motion with actual load. Furthermore,
path accuracy and speed are optimized. ABB’s track motion is the first on the
market with this feature.
The speed, position–to–position, which is the real benchmark of the capability of
the track motion, has improved by more than 40% compared to earlier models.
Limitations
The option 610-1, Independent Axis is not possible to use together with track
motion, IRBT.

1 Description
1.1.1 Introduction
Continued
Track Motion
(C)
(E)
(J)
(D)
(A)
(B)
(F)
(H)
(G)
xx1000000940
Pos Description Pos Description

A Gear rack F Cable chain
B Linear guides G Cable tray
C Motor H Mechanical stop
D Gearbox J Protecting plate
E Carriage

1 Description
1.1.2 Technical data for the track motion
Travel length
The IRBT track motion is available in 3 different types.
IRBT Designed for Travel length (m) i
type
Singe carriage (standard Double carriage
track)
IRBT IRB 4400 (all versions) 1.9 to 19.9 (in steps of 1 m) 3.7 to 18.7 (in steps of 1 m)
4004 IRB 4600 (all versions)
IRBT IRB 6650S (all versions) 1.7 to 19.7 (in steps of 1 m) 3.3 to 18.3 (in steps of 1 m)
6004 IRB 6620
IRB 6640 (all versions)
IRB 6700 (all versions)
IRBT IRB 7600 (all versions) 1.7 to 19.7 (in steps of 1 m) 3.3 to 18.3 (in steps of 1 m)
7004
i Travel length is the distance the carriage(s) can move.
Single carriage
Below is an example of travel length for a 4 m stand with single carriage.
A B
xx1000001257
Pos Description
A IRBT 4004 L=646 mm
IRBT 6004/7004 L=841 mm
B IRBT 4004 Travel length= 2.9 m
IRBT 6004/7004 Travel length=2.7 m
Double carriage
Below is an example of travel length for a 6 m stand with double carriage.
xx1000001426

1 Description
Continued
Pos Description
A IRBT 4004 L= 646 mm
IRBT 6004/7004 L= 461 mm
B IRBT 4004 L= 1200 mm
IRBT 6004/7004 L= 1780 mm
C IRBT 4004 Travel length= 3700 mm
IRBT 6004/7004 Travel length=3300 mm
Required space for installation of single carriage track (standard)
Note
The tables only give the space that the track motion itself requires. In addition
there propably needs to be additional space at the ends of the track motion at
the installation site. Add space as required.
Required space for installation - with cable chain Murrplastik

The table below shows the required space for installation of single carriage track
motions with different travel lengths, when using the cable chain Murrplastik.
Travel length (m) i Sections (pcs) Required space for installation (m) ii iii
IRBT 4004 IRBT 6004/ 7004 Value of N
1.9 1.7 3 4.231
2.9 2.7 4 5.231
3.9 3.7 5 6.231
4.9 4.7 6 7.231
5.9 5.7 7 8.231
6.9 6.7 8 9.231
7.9 7.7 9 10.231
8.9 8.7 10 11.231
9.9 9.7 11 12.231
10.9 10.7 12 13.231
11.9 11.7 13 14.231
12.9 12.7 14 15.231
13.9 13.7 15 16.231
14.9 14.7 16 17.231
15.9 15.7 17 18.231
16.9 16.7 18 19.231
17.9 17.7 19 20.231
18.9 18.7 20 21.231
19.9 19.7 21 22.231
i The travel length is illustrated in Travel length on page 13.
ii The measurement for the required space is valid when using the cable chain Murrplastik.
iii How to calculate the required space is described in Formula for single carriage track on page 15.

1 Description
Continued
Formula for single carriage track

Required space for a single carriage track is determined with the following formula:
Required space (mm) = 81 + (1000 x N) + (a)
Value of N is equal to the number of sections, defined in previous tables.
For the number (a), see figure.
Max 510
81 254
1000 750 (a)
1000 x N
xx1000000941
(a) Cable chain Murrplastik: max. 1150 mm
Required space for installation of double carriage track (option 1088-2)
Note
The tables only give the space that the track motion itself requires. In addition
there propably needs to be additional space at the ends of the track motion at
the installation site. Add space as required.
Required space for installation - with cable chain Murrplastik

The table below shows the required space for installation of double carriage track
motions with different travel lengths, when using the cable chain Murrplastik.
IRBT 4004 IRBT 6004/ 7004 Value of N
3.7 3.3 6 8.300
4.7 4.3 7 9.300
5.7 5.3 8 10.300
6.7 6.3 9 11.300
7.7 7.3 10 12.300
8.7 8.3 11 13.300
9.7 9.3 12 14.300
10.7 10.3 13 15.300
11.7 11.3 14 16.300
12.7 12.3 15 17.300
13.7 13.3 16 18.300
14.7 14.3 17 19.300
15.7 15.3 18 20.300

1 Description
Continued
16.7 16.3 19 21.300
17.7 17.3 20 22.300
18.7 18.3 21 23.300
ii The measurement for the required space is valid when using the cable chain Murrplastik on the
track motion.
iii How to calculate the required space is described in Formula for double carriage track on page 16.
Formula for double carriage track

To install track motions with two carriages (double carriage) the cable chain requires
to be fitted differently at the frame than when fitting it on a single carriage. The
different fitting makes the cable chain stand out more on a double than on a single
carriage.
Required space for a double carriage track is determined with the following formula:
Required space (mm) = a + (1000xN) + a
Value of N is equal to the number of sections, defined in previous tables.
For the number (a), see figure.
Max 510
Max 510
1000
(a) 1000xN (a)
xx1000001423
(a) Cable chain Murrplastik: max. 1150 mm
Example: there are 6 sections in a double carriage for travel length 3.7 m (IRBT
4004). The required space, if using a cable chain from Murrplastik, is therefor: 1150
+ (1000x6) + 1150 = 8300 mm.

1 Description
Continued
Dimensions
735 / 648*
384.5
392
985 F
(a)
(b)
xx1000000942
* Valid for track motions with motor type A (the motor is marked with an "A" on
its side).
(a) Cable chain Murrplastik: 1325 mm
(b) Cable chain Murrplastik: 1350 mm
Weight of track motion and number of joined sections in transport

Weight of track motion with single carriage
Travel length (m) i Joined sections in Weight (kg)

transport
IRBT 4004 IRBT 6004/ IRBT 4004 IRBT 6004/ 7004
7004
1.9 1.7 1 1023 1014
2.9 2.7 1 1234 1227
3.9 3.7 1 1430 1420
4.9 4.7 1 1659 1633
5.9 5.7 1 1871 1840
6.9 6.7 1 2083 2047
7.9 7.7 1 2295 2254
8.9 8.7 2 2507 2461
9.9 9.7 2 2719 2668
10.9 10.7 2 2931 2875
11.9 11.7 2 3143 3082
12.9 12.7 2 3355 3289
13.9 13.7 2 3567 3496

1 Description
Continued

transport
14.9 14.7 2 3779 3703
15.9 15.7 2 3991 3910
16.9 16.7 2 4203 4117
17.9 17.7 3 4415 4324
18.9 18.7 3 4627 4531
19.9 19.7 3 4839 4738
Weight of track motion with double carriage

transport
IRBT 4004 IRBT 6004 and IRBT IRBT 4004 IRBT 6004/7004
7004
3.7 3.3 1 2056 2061
4.7 4.3 1 2228 2111
5.7 5.3 1 2425 2361
6.7 6.3 1 2622 2511
7.7 7.3 2 2811 2661
8.7 8.3 2 3000 2811
9.7 9.3 2 2189 2961
10.7 10.3 2 3378 3111
11.7 11.3 2 3567 3261
12.7 12.3 2 3756 3411
13.7 13.3 2 3945 3561
14.7 14.3 2 4134 3711
15.7 15.3 2 4323 3861
16.7 16.3 3 4512 4011
17.7 17.3 3 4701 4161
18.7 18.3 3 4890 4311
Weight of pedestal
Robot pedestal IRBT 4004 IRBT 6004/ IRBT 7004

Height: 250 mm 238 kg 230 kg
Height: 500 mm i 326 kg 326 kg
i Only available for IRBT 4004 and 6004.

1 Description
Continued
Airborne noise level

The sound pressure level outside the working space.
IR(B)T type Level
IRBT 4004 < 77 dB (A) / 1m
IRBT 6004 < 76 dB (A) / 1m
IRBT 7004 < 73 dB (A) / 1m
Power consumption at max load
Type of Movement IR(B)T

- Within specification for respective robot.
A power consumption measurement of a track motion with
manipulator could be done with a simulated cycle in RobotStu-
dio. See Operating manual - RobotStudio.

1 Description
1.1.3 Measures of the carriage table
IRBT 4004
Use the hole configuration for the manipulator when designing fixures to be used
on the track. The figure below shows the dimensions in mm. Both tables on double
track are the same.
800 90
216,51
K
180
(A)
355
285 250
J J K 217,50
205
188,36
216,51
245
125
108,75
217,50
0 0
108,75
H
216,51
125
H
188,36
245
217,50
270
285
250
355
402 ±0,1
405 ±2,5
0
188,36
216,51
285
216,51
188,36
125
108,75
250
285
355
3,2
35 H8 (6x)
0,1 245 40
10
M16 (12x)
0,5
3,2
3,2
10 (6x)
35 H8 (6x)
0,1
10
M16 (6x)
0,5
M20 (9x)
H-H 0,3
J-J K-K
xx1000000943
Pos Description
A Drilling allowed within the marked area.

1 Description
Continued
IRBT 6004 and IRBT 7004

Standard carriage
The figure below shows the standard carriage for IRBT 6004/7004.
317.3
354.8
243.5
184.7
0
354.8
317.3
282.8
184.7
950
0
243.5
N
N 0
282.8
.
3,2
20 ±1 (4x)
18 ±1 (H7)(4x)
M5 (4x)
12H7 (4x)
0.10 E (2x)
1x45° (4x)
32 ±1 (4x)
N-N
xx1000000944
Pos Description
A Drilling allowed within the marked area.

1 Description
Continued
Carriage plate
The figure below shows the carriage plate that is used as a second added carriage
for a double track or as a single carriage as mirrored, for track motions IRBT
6004/7004.
282.8
0
A
354.8
A
317.3
282.8
184.7
0
243.5
N
282.8
N
0
184.7
354.8
243.5
317.3
(B)
B-B
A-A (B)
(C) 12H7
0.1
(D)
(C)
N-N
xx000001281
Pos Description
(A) Drilling allowed within the marked area.
(B) Carriage plate

1 Description
Continued
Pos Description
(C) Distance plate (fitted to the carriage at delivery)
(D) Adapter for guide pin (fitted to the carriage at delivery)

1 Description
1.1.4 Mounting of manipulator on track
1.1.4 Mounting of manipulator on track
General
The manipulator can be mounted in two directions, in line or 90 degrees, see
Figures below. Other mounting positions not allowed.
xx1000000965
xx1000000964
Below figures shows the mounting on double carriage, option 1088-2.
xx000001283
xx000001284

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 60204-1:2016 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
1.3 Installation
1.3.1 Introduction
General
The IRBT´s are intended for floor mounting. Detailed information regarding
mechanical installation can be found in the Product Manual.
Maximum load
The maximum load for the different tracks:
Type Permitted load/carriage i
IRBT 4004 The weight of IRB 4400/4600 payload + pedestal + 50 kg
IRBT 6004 The weight of IRB 66X0 payload + pedestal + 100 kg
IRBT 7004 The weight of IRB 7600 payload + pedestal + 100 kg
i Max payload included, weight of pedestal according to Technical data for the track motion on
page 13
Robot payload is specified in the Product Specification for the robot.
Installation of standard and mirrored track

Below are examples of installed mirrored and standard track shown.
For IRBT 6004 and IRBT 7004 there will be different distance from center of robot
to the edge of the track, but for IRBT 4004 it is the same.
IRBT 4004
xx000001274

1 Description
1.3.1 Introduction
Continued
IRBT 6004/7004
Mirrored Carriage
850 4700
Stand 6000 = travel length 4.7 M
6000
6000
850 4700
Stand 6000 = travel length 4.7 M
Standard
xx1900000822

1 Description
1.3.2 Operating requirements
Protection standards
Protection type Protection class

Standard IP65
Foundry IP65
Explosive environments
The track motion must not be located or operated in an explosive environment.
Ambient temperature
Description Standard/Option Temperature

Track motion during Standard +5°C i (41°F) to + 50°C (122°F)
operation
For the controller Standard/Option See Product specification - Control-
ler IRC5 with FlexPendant
For short periods (not Standard Up to + 70°C (158°F)
exceeding 24 hours)
i At low environmental temperature < 10 o C is, as with any other machine, a warm-up phase
recommended to be run with the robot. Otherwise there is a risk that the robot stops or run with
lower performance due to temperature dependent oil- and grease viscosity.
Relative humidity
Description Relative humidity

Complete track during transportation and storage Max. 95% at constant temperature
Complete track during operation Max. 95% at constant temperature

1 Description
Continued
Forces
Maximum floor loads in relation to the base coordination system and indicated per
each stand of the section of the track, see figure below.
xx1000000945
Robot Endurance load in operation Max. load at Emergency stop (kN)

(kN)
Fxy Fz Fxy Fz
IRB 4400 ±3 1.5 ± 5 ± 6.5 3±9
IRB 4600 ±3 1.5 ± 5 ± 6.5 1.5 ± 9
IRB 4600 with pedestal ± 3 1.5 ± 6 ± 6.5 1.5 ± 10
IRB 6650S ±7 5 ±15 ± 14 5 ± 30
IRB 6650S with pedestal ± 7 5 ±18 ± 14 5 ± 36
IRB 6620 ±3 3 ±19 ±9 3 ± 34
IRB 6620 with pedestal ± 3 3 ±18 ±9 3 ± 35
IRB 6640 ±4 5 ±24 ± 10 5 ± 42
IRB 6640 with pedestal ± 4 5 ±25 ± 10 5 ± 45
IRBT 6004/IRB 6700-200 ± 3.5 4.5 ±22 ±8 4.5 ± 43
kg i
IRBT 6004/IRB 6700-200 ± 3.5 5.5 ±24 ±8 5.5 ±45
kg i with pedestal
IRBT 6004/IRB 6700-235 ± 3.5 5 ±23 ±8 5 ±49
kg ii
IRBT 6004/IRB 6700- ± 3.5 5.5 ±24 ±8 5.5 ±51
235kg ii with pedestal
IRBT 6004/IRB 6700-300 ± 4 5.5 ±27 ± 11 5.5 ±51
kg iii

1 Description
Continued
Robot Endurance load in operation Max. load at Emergency stop (kN)

(kN)
Fxy Fz Fxy Fz
IRBT 6004/IRB 6700-300 ± 4 6.5 ±28 ± 11 6.5 ±55
kg iii with pedestal
IRB 7600 ± 11 8 ± 24 ± 22 8 ± 51
IRB 7600 with pedestal ± 11 8 ± 26 ± 22 8 ± 56
i IRB 6700-200/2.60, IRB 6700-155/2.85
ii IRB 6700-235/2.65, IRB 6700-205/2.80, IRB 6700-175/3.05, IRB 6700-150/3.20
iii IRB 6700-300/2.70, IRB 6700-245/3.00
Note
If doing fatigue calculations with combined tension (Fz) and shear loads (Fxy),
the shear loads (Fxy) are allowed to be reduced with a factor 0.7.

1 Description
1.3.3 Hole configuration
Dimension
Note
The cable tray brackets will be installed on the track motion right next to and
inline with the the ground plates. If installing mounting plates beneath the ground
plates (optional), make sure that the mounting plate bolt heads will not interfere
with the cable tray brackets to be installed.
250
939
x x
500
500xN
Ø 12.8
60
10
Ø 12 E7 Ø 25
X-X B
A
70 6
xx1800001379
A Cable tray bracket, position for standard (non-mirrored) track motion

B Cable tray bracket, position for mirrored track motion
The table shows the value of N in the previous figure with different travel lengths.
Travel length IRBT 4004 / Total length of the stand Quantity N
1.9 / 1.7 m 3m 5
2.9 / 2.7 m 4m 7
3.9 / 3.7 m 5m 9

1 Description
Continued
Travel length IRBT 4004 / Total length of the stand Quantity N

etc.
Hole configuration
The stand’s ground plates have holes for assemble. The hole configuration on the
right side (shown in figure) is the same as the hole configuration on the left side.
23
A
Ø 25
M
16
A Holes for leveling / leveling screw

B Holes for expansion-shell bolts with a diameter of M20 / chemical bolt
Screws for fastening manipulator to base
Recommended screws for fastening the

manipulator to the base
Steel structure M20 x 90 8.8 with 4 mm flat washer
Concrete floor M20 i
i The type and dimension of screws depend on the foundation conditions. See description for
maximum floor loads in Operating requirements on page 29.

1 Description
1.4.1 Introduction
1.4 Motion
1.4.1 Introduction
Type of motion
Standard carriage track
The standard track has a linear motion with a travel length between 1.9 (IRBT 4004)
/ 1.7 (IRBT 6004, IRBT 7004) to 19.9 (IRBT 4004) / 19.7 m (IRBT 6004, IRBT 7004).
B A
xx1000000948
Pos Description
A Travel length (TL)
B Distance from the stand´s first ground plate assembly hole (see position
B in figure Hole configuration on page 33) to the centre of the carrier
table.
IRBT 4004: 396 mm
IRBT 6004 / 7004: 591 mm

1 Description
1.4.1 Introduction
Continued
Double carriage track

The double carriage track has a motion with a travel length between 3.7 m (IRBT
4004) / 3.3 m (IRBT 6004, IRBT 7004) to 18.7 m (IRBT 4004) / 18.3 m (IRBT 6004,
IRBT 7004).
IRBT 4004
Below figure shows IRBT 4004 with option 1088-2 Double carriage:
B min 1200 A
xx1000001429
Pos Description
B Distance from the stand´s first ground plate assembly hole (see position B
in figure Hole configuration on page 33) to the centre of the carrier table.
IRBT 4004: 396 mm
IRBT 6004/7004
Below figure shows IRBT 6004/7004 with option 1088-2 Double carriage:
B min 1780 A
xx1000001430
Pos Description
B Distance from the stand´s first ground plate assembly hole (see position B
in figure Hole configuration on page 33) to the centre of the carrier table.
IRBT 6004 / 7004: 211 mm

1 Description
1.4.1 Introduction
Continued
Mirrored carriage track

The mirrored carriage track has a motion with a travel length between 1.9 (IRBT
4004) / 1.7 (IRBT 6004, IRBT 7004) to 19.9 (IRBT 4004) / 19.7 m (IRBT 6004, IRBT
7004).
A B
xx1500000227
Pos Description
B Distance from the stand´s first ground plate assembly hole (see position
B in figure Hole configuration on page 33) to the centre of the carrier
table.
IRBT 4004: 206 mm
IRBT 6004 / 7004: 591 mm

1 Description
1.4.2 Performance
1.4.2 Performance
General
IRBT 4004/6004/7004 Performance

Pose repeatability, RP (mm) i < ± 0.08
Pose stabilization time, PSt (s) < 0.5
i Repeated stopping in a travel direction, at the same point.

1 Description
1.4.3 Velocity
1.4.3 Velocity
Maximum axis speeds
TrackMotion Type Speed

IRBT 4004 2.0 m/s
IRBT 6004 1.6 m/s
IRBT 7004 1.2 m/s

1 Description
1.4.4 Positioning time
1.4.4 Positioning time
Positioning time at different travel distance

Typical positioning times, with manipulator + nominal load.
Track motion and robot Travel length
1m 2m 3m 4m 5m
IRBT 4004/IRB 4400 < 1.3 s < 1.8 s < 2.3 s < 2.8 s < 3.3 s
IRBT 4004/IRB 4600 < 1.2 s < 1.7 s < 2.2 s < 2.6 s < 3.2 s
IRBT 6004/IRB 6650S < 1.6 s < 2.2 s < 2.8 s < 3.4 s < 4.1 s
IRBT 6004/IRB 6620 < 1.3 s < 1.7 s < 2.2 s < 2.7 s < 3.2 s
IRBT 6004/IRB 6640 < 1.4 s < 2.0 s < 2.6 s < 3.3 s < 3.9 s
IRBT 6004/IRB 6700 < 1.4 s < 2.0 s < 2.6 s < 3.3 s < 3.9 s
IRBT 7004/IRB 7600 < 1.7 s < 2.5 s < 3.4 s < 4.2 s < 5.0 s

1 Description
1.4.5 Stopping distance/time
1.4.5 Stopping distance/time
General
Stopping distance/time for emergency stop (category 0) and program stop (category
1) at max speed and max load, categories according to EN 60204-1.
Track motion and robot Category 0 Category 1
Distance Stop time (s) Distance Stop time (s)
(mm) (mm)
IRBT 4004/IRB 4400 550 0.55 600 0.6
IRBT 4004/IRB 4600 370 0.37 400 0.39
IRBT 6004/IRB 6600 500 0.65 600 0.75
IRBT 6004/IRB 6620 550 0.55 600 0.6
IRBT 6004/IRB 6640 500 0.5 600 0.6
IRBT 6004/IRB 6700-200 kg i 440 0.5 670 0.8
IRBT 6004/IRB 6700-235 kg ii 450 0.5 690 0.8
IRBT 6004/IRB 6700-300 kg iii 500 0.6 770 0.9
IRBT 7004 450 0.7 500 0.8
i IRB 6700-200/2.60, IRB 6700-155/2.85
ii IRB 6700-235/2.65, IRB 6700-205/2.80, IRB 6700-175/3.05, IRB 6700-150/3.20
iii IRB 6700-300/2.70, IRB 6700-245/3.00

1 Description
1.5.1 Introduction
1.5 Maintenance and troubleshooting
1.5.1 Introduction
General
The track motion requires only the minimum maintenance during operation. It has
been designed to make it as easy for services as possible:
• Maintenance-free AC motor is used.
• Oil is used for the gear boxes.
• The cabling is routed for longevity, and in the unlikely event of a failure, its
modular design makes it easy to change.
Maintenance
The maintenance intervals depend on the use of the track motion. For detailed
information about maintenance procedures, see Maintenance in the product manual.

2 Specification of variants and options
2.1 Introduction to variants and options

2.1 Introduction to variants and options
General
The different variants and options for the IRBT 4004/6004/7004 are described in
the following sections. The same option numbers are used here as in the
specification form.
The variants and options related to the robot controller are described in the product
specification for the controller.

2.2 Track motion
2.2 Track motion
Drives needed in robot controller

Below is a table showing the drives that are used in the robot controller together
with different types of track motion.
IRBT For IRB Drives
4004 4400 option 907-1, drive ADU-790-A
4004 4600 option 907-1, drive ADU-790-A
6004/7004 6600/6620/6640/6700/7600 option 907-1, drive ADU-790-A
Note
The track motion uses the FB7 at robot base, option 864-1 on robot specification
form, exception IRB 4400 that use SMB included in the track, as option 864-1
not avaialble for IRB 4400.
All system with 8th axis will get an extra SMB, included in the track.
Track motion type
Option IRBT Type Reach (m)

1000-1 4004 i For IRB 4400/4600, with a travel length of 1.9 m.
Available travel length 1,9 to 19,9 in steps of 1 m
1000-2 6004 i For IRB 6600/6620/6640/6700, with a travel length of 1.7
m.
1000-3 7004 For IRB 7600, with a travel length of 1.7 m.
i Selection of robot type must be made, see Valid for product.
For additional travel length in steps of 1 m, see option 1001-1 below.
Manipulator colour
Option Description
209-1 ABB Orange Standard
209-202 ABB Graphite White Standard colour
Standard
Additional travel length
Option Description Note

1001-1 (1-18) Add travel length Chose additional travel length in meter, above the min.
length under Track Motion Type. Additional length more
than 6 m NOT available together with Protection
Foundry, option 1008-2.
The selection 1 adds 1m travel length, 2 adds 2m travel
length and so on...

2.2 Track motion
Continued
Example of ordering a track motion IRBT 4004, with a requested travel length of
12 m:
Track Motion Type:
• 1000-1 IRBT 4004
• 1001-1 Add travel length
In this case, option 1000-1 specify a track motion with a travel length of 1.9 m,
option 1001-1 adds 11 meters to that, ending up with a total travel length of 12.9
m.
External axis configuration

1002-2 7 axis Robot mounted on the track, equipped with Robot Servo
Gun, as axis 7.
See Product Specification for IRB 6600/7600, chapter
Servo Gun.
Valid for product

Due to different options for different robots must the used robot be specified.
1086-1 IRB 4400 Track motion adapted for IRB 4400.
1086-6 IRB 6650S Track motion adapted for IRB 6650S.
1086-9 IRB 6700 Track motion adapted for IRB 6700
Type of carriage

1088-1 Mirrored carriage i A standard track with mirrored carriage and cable chain.
1088-2 Double carriage ii A track with two carriages.
Min travel length 3.3/3.7 m, max travel length 18.3/18.7 m.
Additional travel length max. 15 m for protection standard
and max. 4 m for protection Foundry.
Both carriages will get the same selected options.
i To be used when two tracks are installed in a opposite way, against each other, see Installation of
standard and mirrored track on page 27. No needs for mirrored carriage option for double track as
the double track are symmetrical.
ii Two different types of manipulators can be used on a double track. In those cases a quotation is
needed. Both manipulators must have the same selection of options e.g. MH and type of
communication. It’s not allowed to have e.g. one Spot Welding robot and one Material Handling
robot on a track with double carriages. This option overrides the defult value for min/max travel
length specified for option 1000-X. Valid travel lengths shown above.

2.2 Track motion
Continued
A B
xx1100000391
Pos Description
A IRBT 4004= 1200 mm
IRBT6004/7004= 1780 mm
B IRBT 4004, Min 3.7 m
IRBT6004/7004, Min 3.3 m
Warranty
Option Type Description

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.
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.

2.3 Floor cables
2.3 Floor cables
TrackMotion cable - Length
Option Type
1004-1 7m
1004-2 15 m
1004-3 22 m
Note
30 m floor cable not available for track motion, due to too long cables, therefore
not to be selected for robot in the Robot Specification Form.
Lubrication

1005-1 Prepared for local ad- Prepared for customers own lubrication system. All
aptation tubes and so on are mounted on the track. A local lub-
rication system has to be connected by the customer,
according to requirements and Figure below.
Requirements:
Max working pressure: 350 bar
Quantity of grease: 0.4 cm3 / hour
Type of grease: See Product Manual, 3HAC028506-001.
Regarding type of connection see Figure below.

2.3 Floor cables
Continued
(A) A-A
A A
20
Ø4
1/4’’
(B)
xx1000000949
Pos Description
A Location of connection for local lubrication system
B Dimensions of customer connection
1005-2 Central system A fully automatic lubrication system, see figure below.
The System is delivered with a 15 m long cable (from
controller to lubrication unit) and a 10 m long hose (from
lubrication unit to connection point at the track).
Mandatory with protection Foundry option 1008-2.
For more detailed information, see Product Manual,
3HAC028506-001
1005-3 Standard Requires manual lubrication of the track with a grease
gun and brush.
See Product Manual, chapter Maintenance.

2.3 Floor cables
Continued
xx1000000950
Pos Description
A Control unit
B Grease container
Safe Move
To indicating the position of the carriage, can Safe Move be used, option 810-2.
For more detailed information see Product specification - Controller software IRC5.

2.3 Floor cables
Continued
Robot pedestal

1007-2 H= 250 mm To raise the robot 250 mm from the carriage table
1007-4 H= 500 mm To raise the robot 500 mm from the carriage table. Not
together with IRBT 7004, option 1000-3
Screws, washers and guide sleeves are included.
IRB 4400/4600 IRB 6650S/6620/6640

xx1000000951
IRB 6700
xx1800002936

2.3 Floor cables
Continued
Protection
Option Type Note

1008-1 Standard IP65
1008-2 Foundry IP65.
The version Foundry is designed for harsh environ-
ments. The connectors are designed for severe environ-
ments, and bearings and other sensitive parts are highly
protected.
Max travel length 7.7m (7.9 m)

2.4 DressPack Floor
2.4 DressPack Floor
Media hoses
Option Description
1012-1 One additional hose, customer connection G ½" thread
1012-2 Four additional hoses, customer connection G ½" thread
xx1000000952
Pos Description
A Connection point of media hoses.
Spot welding media supply

1013-1 i Power cable, 35 mm2 NOT together with IRBT 4004 [option 1000-1]
i Corresponds to option 791-1/-2 in the Robot Specification Form
Split box

1066-1 i Split box cable NOT together with IRBT 4004 [option 1000-1]
i Corresponds to option 797-1/-2/-3/-4 in the Robot Specification Form.

2.4 DressPack Floor
Continued
Customer communication

1014-1 i CP/CS Parallel For IRBT 4004. Not together with option 1086-2, IRB
4600.
1014-2 i CP/CS CANBUS For IRBT 6004, IRBT 4004 with option 1086-2 and IRBT
7004
1014-3 i CP/CS ProfiBus For IRBT 6004 and IRBT 7004
1014-5 i CP/CS Parallel For IRBT 6004, IRBT 7004. For IRBT 4004 if option 1086-
2, IRB 4600 is selected
1014-6 CP/CS Ethernet For IRBT 4004, 6004 and 7004, CP/CS Parallel included.
Not togheter with option 1086-1, IRB 4400.
i Corresponds to option 94-X, 90-X, 92-X and 859-X in the Robot Specification Form.

2.5 User documentation
2.5 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.

Index
Index service instructions, 54

standards, 25
ANSI, 26
D CAN, 26
documentation, 54
EN, 25
I EN IEC, 25
instructions, 54 EN ISO, 25
standard warranty, 46
M stock warranty, 46
manuals, 54
U
O user documentation, 54
options, 43
V
P variants, 43
product standards, 25
W
S warranty, 46
safety standards, 25

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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2 Specification of variants and options 43

Product specification - IRBT 4004/6004/7004 5

Overview of this specification

Continues on next page

S • Color options are added

T This revision includes following updates/corrections:

V • Option 1011-1 Brake release unit removed.

X • Updated list of applicable standards.

Continues on next page

Product specification - IRBT 4004/6004/7004 9

Continues on next page

Pos Description Pos Description

12 Product specification - IRBT 4004/6004/7004

1.1.2 Technical data for the track motion

Continues on next page

Required space for installation of single carriage track (standard)

Required space for installation - with cable chain Murrplastik

Continues on next page

Formula for single carriage track

(a) Cable chain Murrplastik: max. 1150 mm

Required space for installation of double carriage track (option 1088-2)

Required space for installation - with cable chain Murrplastik

Continues on next page

Formula for double carriage track

(a) 1000xN (a)

(a) Cable chain Murrplastik: max. 1150 mm

Continues on next page

Weight of track motion and number of joined sections in transport

Travel length (m) i Joined sections in Weight (kg)

Continues on next page

Travel length (m) i Joined sections in Weight (kg)

Weight of track motion with double carriage

Travel length (m) i Joined sections in Weight (kg)

Robot pedestal IRBT 4004 IRBT 6004/ IRBT 7004

Continues on next page

Airborne noise level

Power consumption at max load

Type of Movement IR(B)T

Product specification - IRBT 4004/6004/7004 19

1.1.3 Measures of the carriage table

Continues on next page

IRBT 6004 and IRBT 7004

Continues on next page

Continues on next page

Product specification - IRBT 4004/6004/7004 23

1.1.4 Mounting of manipulator on track

Below figures shows the mounting on double carriage, option 1088-2.

24 Product specification - IRBT 4004/6004/7004

1.2.1 Applicable standards

Continues on next page

26 Product specification - IRBT 4004/6004/7004

Installation of standard and mirrored track

Continues on next page

28 Product specification - IRBT 4004/6004/7004

1.3.2 Operating requirements

Protection type Protection class