ABB IRB 4400 - 45 User Manual

2 Installation and commissioning
2.6.1. Installation of IRB4400 in a water jet application
81 3HAC022032-001 Revision: E
© Copyright 2004-2008 ABB. All rights reserved.
2.6 Additional installation (Foundry Prime)
2.6.1. Installation of IRB4400 in a water jet application
General
Robots delivered with the Foundry Prime protection are specially designed to work in water
jet cleaning cells with 100% humidity and alkaline detergent. To ensure that the protection
offers the best reliability, some measures are needed during installation of the robot according
to the procedures below.
For best reliability, it is also of highest importance that the special maintenance instructions
for the Foundry Prime robot are followed and documented.
Commissioning
• Never switch off the overpressure in motors and serial measurement compartment
during cooling down of robot after it has been switched off.
• When turning off an cleaning cell we recommend that the humid air inside a cell is
ventilated out, to avoid that the humid air is sucked into e.g. gearboxes due to the
raised vacuum when cooled down.
Environmental conditions
Air specification for pressurizing of robot
The air must be dry and clean, such as instrument air. Following table details the air
specification.
If the pressurized air contains oil, it could result in a brake failure in the motors and cause the
robot arms to fall down, leding to personal injure or physical damage.
If the air pressure exceeds the specified, it could result in a brake failure in the motors and
cause the robot arms to fall down, leding to personal injure or physical damage.
To secure sufficient air pressure, it is recommended to use a pressure sensor.
Humidity 100%
Washing detergent with pH <9.0
Washing detergent must be approved by ABB.
Cleaning bath temperature <60°C, used in a typical waterjet
cleaning application at suitable
speed.
Dew point <+2°C at 6 bar
Solid particle size <5 microns
Oil content <1 ppm (1 mg/m3)
Pressure to robot 0.2-0.3 bar
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ABB IRB 4400 - 45 Specifications

General

Payload Capacity	45 kg
Degrees of Freedom	6
Max Speed	2.5 m/s
Protection	IP 54
Type	Industrial robot
Manufacturer	ABB
Model	IRB 4400 - 45
Protection Class	IP 54
Repeatability	0.05 mm
Mounting	Floor