ABB Robots
General
There are four (4) ABB IRB 6700 robots located on this station. These robots are 6-axis robots used to manipulate the spot welders attached to properly weld the parts in the station. Each robot has an individual ABB IRC5 robot controller and weld controller located outside of the fencing that control robot functionality. Each robot also has a tip dresser and tip changer associated to it.
These robots are multi-axis articulating robots with moveable joints driven by servo motors. The motors are equipped with resolvers or encoders that tell the robot controller the robot's location and travel speed and provide positional feedback.
Major Components (IRB 6700)
The ABB IRB 6700 Robot features the following components.
| Item | Description | Function |
|---|---|---|
| A | Axis 1 | Allows the entire robot to rotate around the base of the robot. |
| B | Axis 2 | Horizontal motion of the robot's upper arm, also known as the shoulder joint or or horizontal translation motion. |
| C | Axis 3 | Arm motion, allowing the axis to move up and down along a vertical axis, perpendicular to the ground. |
| D | Axis 4 | Wrist motion that allows the axis to rotate around a vertical axis. |
| E | Axis 5 | Rotational motion of the robot's tool or end effector around a vertical axis. |
| F | Axis 6 | Rotational motion of the robot's wrist around its own axis. |
| G | Counterbalance | Keep weight proportionately balanced while moving. This offsets the robot's arm weight, providing stability and reducing the load on the robot's motors. |