Irbm 100

ROBOTICS
Product specification
IRB-M100
Trace back information:
Workspace Systems version a22
Checked in 2021-07-02
Skribenta version 5.4.005
Product specification
IRB-M100
Controller inside
Document ID: 3HKA00000184276-001

Revision: A
© Copyright 2021 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, damage 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 9
1.1 Structure ......................................................................................................... 9
1.1.1 Introduction ............................................................................................ 9
1.1.2 AGV Ecosystem ...................................................................................... 10
1.1.3 Main components .................................................................................... 12
1.1.4 Technical data ........................................................................................ 15
1.2 Standards ........................................................................................................ 19
1.2.1 Applicable standards ............................................................................... 19
1.3 Installation ....................................................................................................... 21
1.3.1 Introduction to installation and commissioning ............................................. 21
1.3.2 Fitting equipment on the machine ............................................................... 22
1.3.3 About the battery .................................................................................... 23
1.3.4 Payload ................................................................................................. 27
1.3.5 Electrical connections .............................................................................. 29
1.4 Maintenance .................................................................................................... 30
1.4.1 Maintenance schedule ............................................................................. 30
1.4.2 Expected component life ......................................................................... 31
2 Specification of variants and options 33

2.1 AGV CONFIGURATION ...................................................................................... 33
2.2 ACCESSORIES ................................................................................................ 35
2.3 WARRANTY ..................................................................................................... 36
Index 37
Product specification - IRB-M100 5

3HKA00000184276-001 Revision: A
This page is intentionally left blank
Overview of this specification
Overview of this specification

About this product specification
This product specification describes the performance of the IRB-M100 in terms of:
• The structure and dimensional prints
• The fulfilment of standards, safety, and operating equipment
• The load diagrams, mounting or extra equipment, the motion, and the robot
reach
• The specification of available variants and options
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.
The specification is intended for:
• Product managers and product personnel
• Sales and marketing personnel
• Order and customer service personnel
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.
The specification is intended for:
• Product managers and product personnel
• Sales and marketing personnel
• Order and customer service personnel
References
Document name Document ID
Operating manual - IRC5 with FlexPendant 3HAC050941-001
Revisions
Revision Description
A First edition.

3HKA00000184276-001 Revision: A
1 Description
1.1.1 Introduction
1 Description
1.1 Structure
1.1.1 Introduction
Overview
The IRB-M100 is an automated guided vehicle designed for the transportation of
goods in the bodyshop, and the cornerstone of ABB's Rack-free manufacturing
concept.
The design and performances of our IRB-M100 are enabler for production lines
with optimum throughput and maximum flexibility, while keeping the cost down.
xx2000002289
Operating system
The IRB-M100 is equipped with the ABB OEM AGV FUNCTION PACKAGE 1.0.0
software.
Safety
Safety standards valid for complete AGV.

3HKA00000184276-001 Revision: A
1 Description
1.1.2 AGV Ecosystem
1.1.2 AGV Ecosystem
xx2100000177
ABB Ability
ABB Ability solutions combine ABB’s deep domain expertise with connectivity and
software innovation to empower real-time, data-driven decisions for safer, smarter
operations of the AGV fleet that maximize resource efficiency and contribute to a
low-carbon future.
Fleet Management System (FMS)

The FMS manages in real time the fleet of AGVs. It regulates the traffic and assigns
the tasks to the AGVs according to a set of parameters (priority of the mission,
availability of the AGV, proximity to the task…). In addition the FMS offers standard
interfaces to other managements systems of the factory (Manufacturing Operations
Management (MOM), Enterprise Resource Planning (ERP), Warehouse Management
System (WMS), …).
Continues on next page

10 Product specification - IRB-M100
3HKA00000184276-001 Revision: A
1 Description
1.1.2 AGV Ecosystem
Continued
Manufacturing Execution Systems (MES)

MES are computer-based systems used in manufacturing to track and document
the transformation of raw materials to finished products.
Network Management System (NMS)

The NMS can detect, diagnose and resolve network performance issues to maintain
an optimum Quality of Service (QoS).
Payload
The most common applications for AGVs are the transportation of goods between
warehouse, process station, packing, … The payload can vary depending whether
it is transported on top of the AGV (carrying applications) or placed on a trolley
pulled by the AGV (towing/tugging applications).
Battery Charging Station

AGVs are powered by embedded batteries that requires charging to maintain an
optimal availability. The charging station can be derivations along the main route,
where the AGV is ordered to navigate by the FMS for recharging, or they can be
directly implemented along the main route for opportunity charging during stop
times.
Navigation infrastructure
In most cases the factory floor must be equipped with navigation artifacts to guide
the AGVs along the programmed path. Most commonly used methods are QR tags,
magnetic tape and RFID markers. Other methods (Simultaneous Localization And
Mapping) are using the scanner information to map the area for guidance, and
therefore do not require specific navigation artifacts.

3HKA00000184276-001 Revision: A
1 Description
1.1.3 Main components
Overall
The following figures show the main typical components of IRB-M100.
xx2100000577
Figure 1.1: Front view of towing type
xx2100000580
Figure 1.2: Carrying type

3HKA00000184276-001 Revision: A
1 Description
Continued
xx2100000578
Figure 1.3: Rear view
xx2100000579
Figure 1.4: Inner view

3HKA00000184276-001 Revision: A
1 Description
Continued
Item Description Towing type Carrying type

1 Start Button Baseline Baseline
2 E-Stop Reset Button Baseline Baseline
3 Front Emergency Stop Button Baseline Baseline
4 Front Safety Bumper Baseline Baseline
5 Front Scanner Baseline Baseline
6 Main power switch Baseline Baseline
7 WIFI Baseline Baseline
8 Guide Wheel Baseline Baseline
9 Top plate Baseline (Type Baseline (Type
1, With pin 2, Without pin
hole) hole)
10 Pin Unit Baseline N/A
11 Rear Emergency Stop Button Baseline Baseline
12 TPU Plug Baseline Baseline
13 Rear Scanner Baseline Baseline
14 Rear Safety Bumper Baseline Baseline
15 Support Wheel Baseline Baseline
16 Charger Block Baseline Baseline
17 Rear Magnetic Sensor Baseline Baseline
18 Drive Wheel Left Baseline Baseline
19 Drive Wheel Right Baseline Baseline
20 RFID Sensor Baseline Baseline
21 Front Magnetic Sensor Baseline Baseline
22 Controller Baseline Baseline
23 Power Battery Baseline Baseline
24 Counter weight Baseline N/A

3HKA00000184276-001 Revision: A
1 Description
1.1.4 Technical data
Dimensions
For more details regarding robot dimension, see Dimensions on page 22.
Parameter Value
Length 1,330 mm(with bumper)
1,267 mm(without bumper)
Width 600 mm
Height 300 mm
Weight
The table shows the weight of the IRB-M100.
Mobile robot model Weight
IRB-M100 220 kg
Note
The weight does not include tools and other equipment fitted on the IRB-M100!
Payload
The table shows the payload of the IRB-M100.
Type Payload
Carrying 500 kg
Towing force 800 N
Battery and changing information
Type Payload
Battery and changing information 20 to 60Ah (options)
Optional upgrade Manual or Automatic (options)
Guidance method
Magnetic tape, SLAM (option)
Travel direction
1 way or 2 way (option).
Speed
Freely programmable
Fleet Management System FlexPendant
Maximum 1500 mm/s, 100 m/min 250 mm/s
Speed settings
Freely programmable

3HKA00000184276-001 Revision: A
1 Description
Continued
Travel instruction method

Radio Frequency Identification (RFID) and Fleet Management System (FMS)
Drive type
Brushless Hub motors
Steering method
Differential drive
Braking method
Power loss safety braking
Electrical system
Type Voltage
Electrical system 48 volts DC
Wireless communication
WiFi Client
Safety devices
Safety devices Note

Obstacle sensor Pld Sil2 safety rated laser scanner 32 zones
Stack light Programmable LED strip with multimode
display
Chime & Melody box Music box
Safety circuit All safety signals wired to safety PLC
E-Stop 3 E-Stop + 2 safety edges sensors
Circuit protection Circuit breakers for power units
Control panel display

ABB OmniCore FlexPendant (option)
Storage conditions
The table shows the allowed storage conditions for the machine:
Parameter Value
Minimum ambient temperature -25°C (-13°F)
Maximum ambient temperature +55°C (+131°F)
Maximum ambient temperature (less than 24 hrs) +70°C (+158°F)
Maximum ambient humidity Maximum 95% at constant temper-
ature.
If the IRB-M100 should not be used immediately, the battery need to be stored
separately. The following table shows the allowed storage conditions for the battery.

3HKA00000184276-001 Revision: A
1 Description
Continued
The packing box should be at least 100 mm away from the ground and 500 mm
away from walls, heat sources, cold sources, windows or air inlets.
Parameter Value
Minimum ambient temperature 0°C (+32°F)
Ambient humidity 10% ~ 80％
Operating conditions
The table shows the allowed operating conditions for the mobile robot:
Parameter Value
Minimum ambient temperature +5°C (+41°F)
Maximum ambient humidity Maximum 80% at constant temper-
ature.
Minimum ambient altitude 0m
Maximum ambient altitude 1,000 m
Protection classes
The table shows the available protection types of the mobile robot, with the
corresponding protection class.
Protection type Protection class
Protection type Standard IP54
Power supply for the charger
Mains Value
Article number 3HKA00000185663
Voltage for IRB-M100 220/380 VAC, 1 phase
Voltage tolerance +10%, -10%
Frequency 50/60 Hz
Frequency tolerance ±3%
Requirements, foundation
This AGV is intended for indoor operations only, and requires a clean and flat floor
compliant with DIN 18202.
Especially, obstacles like steps or groves along the way should be eliminated, and
liquids that could affect the operation of the mobile robot (water, oil, ...) should be
cleaned.
The maximum slope should be less than 2 degree.

3HKA00000184276-001 Revision: A
1 Description
Continued
Minimum turning radius

The minimum turning radius is depending on the payload.
Payload Minimum turning radius
No payload 0 mm
500 kg 500 mm
1000 kg 1000 mm

3HKA00000184276-001 Revision: A
1 Description
1.2.1 Applicable standards
1.2 Standards
General
The product is designed in accordance with ISO 3691-4:2020 Industrial Trucks -
Safety requirements and verification- Part4: Driverless industrial trucks and their
systems. If there are deviations, these are listed in the declaration of incorporation
which is included on delivery.
Standards, ISO
The product is designed in accordance with selected parts of:
Standard Description
ISO 3691-4:2020 Industrial Trucks - Safety requirements and verification- Part4:
Driverless industrial trucks and their systems
IEC/EN 62281 Safety or primary and secondary lithium cells and batteries
during transport
IEC/EN 62619 Safety requirements for large format secondary lithium cells
and batteries for stationary and motive applications
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 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
EN 61000-6-2:2005 EMC, Generic immunity
IEC 61000-6-2:2005
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)
IEC 61340-5-1:2010 Protection of electronic devices from electrostatic phenomena
- General requirements
i Only robots with protection Clean Room.
European standards
The product is designed in accordance with selected parts of:
EN 614-1:2006 + A1:2009 Safety of machinery - Ergonomic design principles - Part 1:
Terminology and general principles
EN 574:1996 + A1:2008 Safety of machinery - Two-hand control devices - Functional
aspects - Principles for design

3HKA00000184276-001 Revision: A
1 Description
Continued
UL, ANSI, and 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

3HKA00000184276-001 Revision: A
1 Description
1.3.1 Introduction to installation and commissioning
1.3 Installation
1.3.1 Introduction to installation and commissioning
General
This chapter contains assembly instructions and information for installing the
IRB-M100 controller at the working site.
The installation must be done by qualified installation personnel in accordance
with the safety requirements set forth in the applicable national and regional
standards and regulations.
Safety information
Before any installation work is commenced, it is extremely important that all safety
information is observed.
There are general safety aspects that must be read through, as well as more specific
safety information that describes the danger and safety risks when performing the
procedures.

3HKA00000184276-001 Revision: A
1 Description
1.3.2 Fitting equipment on the machine
1.3.2 Fitting equipment on the machine
Dimensions
The figure shows the dimension of the mobile robot.
1267
1331
330
300
600
xx2100000186
Attachment pin unit and dimensions

Extra loads can be mounted on the mobile robot. The mobile robot is supplied with
pin unit for fitting extra equipment.
For more detail information, see Payload on page 27.
Note
When design the carrier for the extra loads, the pin unit must be accessible from
the upper side.

3HKA00000184276-001 Revision: A
1 Description
1.3.3 About the battery
Location of the battery

The battery is located as shown in the figure.
xx2000001868
Battery Charging Station

General
The charger block is designed to fit with the charging system.

3HKA00000184276-001 Revision: A
1 Description
Continued
Location of the charge block

The location of the charger block is as below illustration.
xx2000001882

3HKA00000184276-001 Revision: A
1 Description
Continued
Dimension of the charge block

The dimension of the charger block is as below illustration.
20
34
44.5
220
148
130
89.3
A 14.5
2-10
20
16
44.5
70.5
90
20
A A-A
xx2100000188
Recommended Battery Charging Station

The following part is recommended to use for AGV's charging.
Part Recommended supplier Type
Battery Charging Station TITANS SCD-100B-220X90-G

3HKA00000184276-001 Revision: A
1 Description
Continued
Requirements for installation of the Battery Charging Station
480 85
X+
Y+
xx2100000189

3HKA00000184276-001 Revision: A
1 Description
1.3.4 Payload
1.3.4 Payload
Payload
This chapter describes the interfaces or requirements that AGV has for the
carriage's design.
Interface for Payload on the AGV top plate

The AGV is designed to carry the payload on the top plate of the AGV.
Intend to secure the payload on the top plate, the six screws on the following
illustration need to be removed for the extra equipment. M5 bolt is used to fit with
the locking hole.
384
For M5 bolts 221.5 221.5
xx2100000204
Note
If the guide wheel has any interference with the extra equipment, remove it.
If any special design is needed for your equipment, please contact ABB.
Interface for Payload with pin unit

The pin unit is designed to hook the carriage.
Note
When design the carriage for the extra loads, the pin unit must be accessible
from the upper side.
Then the user can push the pin unit when the AGV need to be released from the
carriage manually.

3HKA00000184276-001 Revision: A
1 Description
1.3.4 Payload
Continued
The following dimension is an example for the carriage design.

Add hole for pushing pin down manually
>120
(To avoid scanner detection range) Forward pin hook mechanism Backward pin hook mechanism
480.5
961
384
For M5 bolts 221.5 221.5
344
30
48
>12
30
300
>20 600 >20
xx2100000187

3HKA00000184276-001 Revision: A
1 Description
1.3.5 Electrical connections
1.3.5 Electrical connections
Connecting the FlexPendant

The following figure shows the connection point of the FlexPendant on the machine.
For details about connecting, please refer to Product manual.
xx2000002290

3HKA00000184276-001 Revision: A
1 Description
1.4.1 Maintenance schedule
1.4 Maintenance
1.4.1 Maintenance schedule
Scheduled and non-predictable maintenance

The mobile robot must be maintained regularly to ensure proper function. The
maintenance activities and intervals are specified in the table below.
Non-predictable situations also give rise to inspections of the mobile robot. Any
damages must be attended to immediately!
Life of each component

The inspection intervals do not specify the life of each component. Values for these
are specified in the section Expected component life on page 31
Activities and intervals
Equipment Maintenance activity Interval

Complete AGV Inspection 12 months i
System fans Inspection 6 months i
Battery Replace 2000 cycle
Friction plate Replace When needed
Complete AGV Cleaning When needed
FlexPendant Cleaning When needed
Emergency stop (AGV) Function test 12 months
Emergency stop (FlexPendant) Function test 12 months
i The interval depends on the working environment of the equipment: a cleaner environment may
extend the maintenance interval and vice versa.

3HKA00000184276-001 Revision: A
1 Description
1.4.2 Expected component life
1.4.2 Expected component life
Expected life depends on usage

The expected life of a specific component of the mobile robot can vary greatly
depending on the application.
Expected component life
Component Expected life Note

The AGV 5 years i Depending on the applica-
tion.
i Severe chemical or thermal environments, or similar environments, can result in shortened life
expectancy.

3HKA00000184276-001 Revision: A
2 Specification of variants and options
2.1 AGV CONFIGURATION

Model
Option Description
AGV001-2 600 x 1300 - 2WD - 1 Ton Tugging or 500kg Carrying
Type
Option Description
AGV002-1 1 Way (forward)
AGV002-2 2 Way (forward / backward) - additional scanner for bi-directional driving
Navigation System
Option Description
AGV003-1 Magnetic tape guidance
Communication
Option Description
AGV004-1 Standard WiFi client
Charging mode
Option Description
AGV005-1 Manual Charging
AGV005-2 Automatic Charging
Coupling device
Option Description
AGV006-1 Shotpin (x1) + 4 guiding rollers
AGV006-2 Shotpin (x1)
Battery
Option Description
AGV007-1 48V20Ah
AGV007-2 48V50Ah
AGV007-3 48V60Ah
Market
Option Description
AGV009-1 AMEA Market

3HKA00000184276-001 Revision: A
Continued
Option Description
AGV009-4 Others
Application
Option Description
AGV010-1 Tugging
AGV010-2 Towing
AGV010-3 Carrying
Requirements
Option AGV010-1 must select with option AGV006-1.
Option AGV010-2 must select with option AGV006-2.

3HKA00000184276-001 Revision: A
2.2 ACCESSORIES
2.2 ACCESSORIES
AGV Manual operation
Option Description
AGV201-1 Teach-Pendant Unit (ABB Omnicore vNext)
AGV Identification
Option Description
AGV202-1 Label Displaying AGV Unique ID

3HKA00000184276-001 Revision: A
2.3 WARRANTY
2.3 WARRANTY
Warranty
Option Description
W001-1 12 months warranty

3HKA00000184276-001 Revision: A
Index
Index M
maintenance intervals, 30
maintenance schedule, 30
A
assembly instructions, 21 P
payload, 15
D
dimensions, 15 R
requirements on foundation, 17
E
expected life, 31 S
schedule of maintenance, 30
F standards
foundation
ANSI, 20
requirements, 17
CAN, 20
I EN, 19
instructions for assembly, 21 EN IEC, 19
intervals for maintenance, 30 EN ISO, 19
W
weight, 15

3HKA00000184276-001 Revision: A
ABB AB
Robotics & Discrete Automation
S-721 68 VÄSTERÅS, Sweden
Telephone +46 (0) 21 344 400
ABB AS
Nordlysvegen 7, N-4340 BRYNE, Norway
Box 265, N-4349 BRYNE, Norway
Telephone: +47 22 87 2000
ABB Engineering (Shanghai) Ltd.

No. 4528 Kangxin Highway
PuDong District
SHANGHAI 201319, China
Telephone: +86 21 6105 6666
ABB Inc.
1250 Brown Road
Auburn Hills, MI 48326
USA
Telephone: +1 248 391 9000
abb.com/robotics
3HKA00000184276-001, Rev A, en


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ROBOTICS

Document ID: 3HKA00000184276-001

© Copyright 2021 ABB. All rights reserved.

© Copyright 2021 ABB. All rights reserved.

2 Specification of variants and options 33

Product specification - IRB-M100 5

Overview of this specification

Product specification - IRB-M100 7

Product specification - IRB-M100 9

1.1.2 AGV Ecosystem

Fleet Management System (FMS)

Continues on next page

Manufacturing Execution Systems (MES)

Network Management System (NMS)

Battery Charging Station

Product specification - IRB-M100 11

1.1.3 Main components

Figure 1.1: Front view of towing type

Figure 1.2: Carrying type

Continues on next page

Figure 1.3: Rear view

Figure 1.4: Inner view

Continues on next page

Item Description Towing type Carrying type

14 Product specification - IRB-M100

1.1.4 Technical data

Battery and changing information

Continues on next page

Travel instruction method

Safety devices Note

Control panel display

Continues on next page

Power supply for the charger

Continues on next page

Minimum turning radius

18 Product specification - IRB-M100

1.2.1 Applicable standards

Continues on next page

UL, ANSI, and other standards

20 Product specification - IRB-M100

1.3.1 Introduction to installation and commissioning

Product specification - IRB-M100 21

1.3.2 Fitting equipment on the machine

Attachment pin unit and dimensions

22 Product specification - IRB-M100

1.3.3 About the battery

Location of the battery

Battery Charging Station

Continues on next page

Location of the charge block

Continues on next page

Dimension of the charge block

Recommended Battery Charging Station

Continues on next page

Requirements for installation of the Battery Charging Station

26 Product specification - IRB-M100

Interface for Payload on the AGV top plate