Used Abb Abb Robot Flexpicker Delta4 Irb 340 With Irc5 M2004 Controller for sale (50,004)

Condition: excellent (used), 3HAC085598-001 SxTPU4 (for IRC5) DEVELOPMENT OF GSG ROBOTICS Ibjdpfx Agjz Tadfsyec GSG Robotics GmbH, founded in 2005 in Gütersloh, has been based in Marl since 2015, offering comprehensive service coverage for robot maintenance and repair. Over the years, we have evolved into a holistic partner for all matters related to industrial robots and automation technology. We are a full-service provider for the two renowned robot manufacturers, ABB and Fanuc.

Condition: used, Year of construction: 2017, operating hours: 2,509 h, functionality: fully functional, machine/vehicle number: Robot: 2600-109101 / Controller: 6700-101707, overall weight: 434 kg, load capacity: 12 kg, arm reach: 1,850 mm, ABB industrial robot featuring an IRB 2600-12/1.85 Foundry Plus Type B manipulator and an IRC5 M2004 controller, designed for industrial automation applications. The robot is used and has been tested. Typical applications include handling, foundry operations, assembly, and general automation. It has a payload capacity of 12 kg with a reach of 1850 mm. Manufactured in 2017, it has 2509 operating hours and is running RobotWare 6.07.00.00 software. The robot is equipped with a FlexPendant teach pendant, a power cable, two connection cable sets, a floor mounting plate, and a Foundry Plus protection package. Ibodpfx Agszami Rjyjc

Condition: excellent (used), Year of construction: 2016, ABB 2600-12/1.85 Type B robot, fully equipped with options. DEVELOPMENT OF GSG ROBOTICS Ibsdpfxjz Tac Us Agysc GSG Robotics GmbH, founded in 2005 in Gütersloh, has been based in Marl since 2015, serving a large area for robot maintenance and repair. Over the years, we have evolved into a comprehensive partner for all matters related to industrial robots and automation technology. We are a full-service provider for the two renowned robot manufacturers, ABB and Fanuc.

Condition: good (used), Year of construction: 2015, operating hours: 3,642 h, functionality: fully functional, machine/vehicle number: IRB 6700-245/3.00, overall weight: 1,540 kg, load capacity: 245 kg, arm reach: 3,000 mm, controller manufacturer: ABB, controller model: IRC5 M2004, teach pendant manufacturer: ABB, input voltage: 400 V, input current: 20 A, EN: Robot was recently disassembled from our production Assembly line in Bremen and is currently stored in our warehouse in Condove, Italy. Pickup and transportation to be organized by buyer. Isdovca Hkjpfx Agyobc DEU: Der Roboter wurde kürzlich von unserer Produktionslinie in Bremen demontiert und befindet sich derzeit in unserem Lager in Condove, Italien. Abholung und Transport sind vom Käufer zu organisieren.

Condition: excellent (used), Year of construction: 1998, functionality: fully functional, ABB Robotics IRB 1400 robot, complete Controller: S4C-M98 Max. working radius: approx. 1450 mm Iodpjz Rk R Defx Agyjbc Payload: 5 kg Year of manufacture: 1998 Scope of delivery: Robot, controller, cables, teach pendant, operating manual, wiring diagrams. Used item – normal signs of wear and tear. Further details, article numbers, and images available upon request. Two weeks commissioning guarantee. No further warranty. In addition, spare parts are constantly available in stock. The robot is fully functional and can be inspected at any time. Free loading / ex works. The stated amount is net. The legally required value-added tax of 19% will be added at checkout. You will receive a proper invoice with VAT shown. Collection on-site in 74722 Buchen/Hainstadt. Shipping or freight costs vary depending on quantity, weight, and desired delivery conditions. Shipping costs to foreign countries upon request – please provide country, city, and postal code. Freight costs upon request – please provide the delivery address.

Condition: defective spare-parts repository (used), Year of construction: 1994, functionality: not functional, We are selling an industrial robot, type IRB 1500, with an S3 controller from ABB Robotics, manufactured in 07/1994. The unit is defective/not operational and displays the following error messages (see photos): - 506 Servo error 2 - 536 Motor overload error The robot can be moved slightly intermittently until the error messages reappear. Ibjdpfx Agozh Uvgoyec We are selling the robot as a complete package, including the control cabinet, operator panel, and metal frame. Individual parts are not for sale. Please note that we offer neither a guarantee nor a warranty. Returns after purchase are not possible. After the purchase, the robot can be collected by appointment during our business hours. If required, we will gladly assist with loading. Selling price: €3,250 (negotiable) plus VAT.

Condition: used, ABB robot IRB 1600-10/1.2 Foundry Plus IRC 5 industrial robot. Ibodpfx Aezwda Hogyec

Condition: excellent (used), Year of construction: 2009, load capacity: 130 kg, arm reach: 3,200 mm, controller model: IRC5, The IRB 6640 serie is ABB Robotics latest generation of high payload, high performance industrial robots. Based on the famous IRB 6600 series, with the flexible bending backwards concept, the very high wrist torque, the service friendly modular built up and the availability, significant for ABB’s robots, the IRB 6640 robot family goes even further. With focus on high production capacity, compact design and low weight, simple service and low maintenance cost. The IRB 6640 is ideal for process applications, regardless of industry. Typical areas are for example Spot Welding, Material Handling and Machine Tending. Ibodpfxswran Ej Agyoc Specifications Payload: 130 kg Arm Reach: 3200 mm Model Type: IRB6640 Controller: IRC5 Model Year: 2009 Condition: TESTED & PAINTED Included: Manipulator + IRC5 Control Cabin + All Wire Sets + Teach Pendant We have a dedicated team handling these robots. If you share details about your project, we can recommend the most suitable robot for your needs and provide support throughout your project. We have big range of robots in stock, and if you are considering bulk purchases, we would be happy to offer a discount. The same model is available from the same or different production years, and bulk purchases can benefit from special pricing. As PLC Merkezi EOOD, we have more than 300 robots in our inventory and deal with the brands of KUKA, ABB, FANUC and Motoman.

Condition: excellent (used), Year of construction: 2002, functionality: fully functional, ABB Robotics IRB 6400RF 2.5/200 S4C+ M2000 Robot Controller: S4C+ M2000 Number of axes: 6 Max. payload: 200 kg Max. working range: approx. 2500 mm Scope of delivery: Robot, controller, cables, teach pendant, operating manual, circuit diagrams Used item – shows normal signs of wear. Further details, article numbers and images available upon request. Two weeks commissioning guarantee. No further warranty. In addition, spare parts are constantly available in stock. The robot is fully functional and can be inspected on request. Free loading / ex works. Iodpez Rk Txsfx Agyobc The stated amount is net. The legally required value-added tax of 19% will be added at checkout. You will receive a proper invoice with the VAT stated. Collection on-site in 74722 Buchen/Hainstadt. Shipping or freight costs vary depending on the quantity, weight and desired delivery conditions. Shipping costs to foreign countries upon request – please specify country, city and postal code. Freight costs upon request – please specify the delivery address.

Condition: excellent (used), Year of construction: 2006, functionality: fully functional, ABB Robotics IRB 140 S4C+M2000 Robot Controller: S4C+ M2000 Number of axes: 6 Max. payload: 6 kg Max. working range: 810 mm Year of manufacture: 2006 Scope of delivery: Robot, controller, cables, teach pendant, wiring diagrams Used item – shows normal signs of wear. Further details, article numbers, and images available upon request. Two-week commissioning guarantee. No further warranty. Spare parts are continuously available in stock. The robot is fully functional and can be inspected at any time. Isdpfxoz Rk Sno Agyjbc Free loading / ex works. The stated amount is net. The legally required value-added tax of 19% will be added at checkout. You will receive a proper invoice with the VAT shown. Collection on site in 74722 Buchen/Hainstadt. Shipping or freight costs vary depending on the quantity, weight, and desired delivery conditions. Shipping costs to foreign countries upon request – please provide the country, city, and postal code. Freight costs upon request – please provide the delivery address.

Condition: used, Year of construction: 2010, functionality: fully functional, Robotic palletizing system from W+D Langhammer, manufactured in 2010, featuring an ABB IRB 660 M2004 palletizing robot, ABB IRC5 M2004 controller, conveyor system, and safety enclosure. System manufacturer: W+D Langhammer GmbH System type: Robotic palletizing Year of manufacture: 2010 Factory number: A1005300-146900 Robot manufacturer: ABB Robot type: IRB 660 M2004 Robot variant: IRB 660-180/3.15 Robot manufacturing date: 07/30/2010 Robot serial number: 66Z-63572 Robot net weight: 1,750 kg Load capacity according to robot variant: 180 kg Reach according to robot variant: 3.15 m Robot controller: ABB IRC5 M2004 Version: 144A 400–480V Controller voltage: 3 × 400 V Frequency: 50–60 Hz Rated current: 20 A Short-circuit current: 6.5 kA at 400 V Controller net weight: 150 kg Controller manufacturing date: 08/02/2010 Robot operating device: ABB Teach Pendant System operation: Siemens SIMATIC Multi Panel Gripping system: Palletizing gripper included Conveyor system: Roller conveyors and infeed belts Safety enclosure: approx. 8 × 8 m Infeed belts: 2 units, each protruding approx. 1 m from the safety enclosure Outfeed roller conveyors: protruding approx. 2 m from the safety enclosure Langhammer system voltage: 3 × 400 V N PE Langhammer system frequency: 50 Hz Full load current: 35 A Ibsdpfx Asz Dnu Esgyjc Short-circuit breaker: 50 A Note: The infeed and outfeed belt marked in the layout below with a red diagonal line is not installed and is not part of the system offered.

Condition: reconditioned (used), Year of construction: 2015, functionality: fully functional, machine/vehicle number: IRB660-250/3.15 IRC5, load capacity: 250 kg, arm reach: 3,150 mm, controller manufacturer: ABB, controller model: IRC5, teach pendant manufacturer: ABB, Equipment: documentation/manual, IRS Robotics®: Refurbished industrial robot. Established in 2002. Reliability as Standard. Ibedpfx Agozhindoysc 100% complete and fully functional: robot arm, controller, all cabling, and teach pendant. Includes our warranty and a detailed 77-Point Protocol evaluation performed by our in-house robotics engineers. Brand: ABB Type: IRB660-250/3.15 Controller: IRC5 Payload: 250 kg Reach: 3.15 m General purpose: Heavy payload, floor-mounted, palletizing Robot mass: approx. 1650 kg Thanks to its state-of-the-art 4-axis design, customers can expect a high-speed machine that combines a 3.15-meter reach with a 250 kg payload, making it ideal for palletizing bags, boxes, crates, bottles, and more. IRS Robotics® refurbishment: 77-Point Protocol – fully tested on our test benches, new oil/grease, new batteries, fully cleaned, and painted in your desired RAL color. Includes Accuracy Status Measurements (repeatability, accuracy, backlash). About: Our daily business is based on the reliable supply of refurbished A-Brand robots: ABB – KUKA – ABB – YASKAWA. Established in 2002. We ship worldwide.

Condition: reconditioned (used), Year of construction: 2016, functionality: fully functional, machine/vehicle number: IRB6700-235/2.65 IRC5 (RW6), load capacity: 235 kg, arm reach: 2,650 mm, controller manufacturer: ABB, controller model: IRC5, teach pendant manufacturer: ABB, Equipment: documentation/manual, IRS Robotics® – Refurbished industrial robot. Established in 2002. Reliability as standard. 100% complete and fully functional: robot arm, controller, all cabling, and teach pendant. Includes our warranty and a detailed 77-Point Protocol evaluation performed by our in-house robotics engineers. Brand: ABB Type: IRB6700-235/2.65 Controller: IRC5 Payload: 235 kg Reach: 2.65 m Optionally available with an ABB Lean ID, if required (see document): The IRB 6700 LeanID ensures flexible operation and minimizes downtime (due to cable wear), providing better process efficiency and reducing manual handling. In short, the IRB 6700 LeanID delivers a strong return on investment. Isdpewvq H Tjfx Agyjbc Optional: We can deliver the robot with an ABB IRBTx004 track (up to 32 meters if needed). Complete with the 7th axis drive unit in the robot controller, motor, cable chain, grease pump, fully functional and operational. IRS Robotics® – Refurbished: 77-Point Protocol – fully tested on our test benches, new oil/grease, new batteries, fully cleaned, and painted in your desired RAL color. Includes Accuracy Status Measurements (repeatability, accuracy, backlash). About: Our daily business is the reliable delivery of refurbished A-Brand robots: ABB – KUKA – ABB – YASKAWA. Established in 2002. We ship worldwide.

Condition: used, Year of construction: 2018, operating hours: 7,490 h, functionality: fully functional, machine/vehicle number: Robot: 4600-107494 / Controller: 4600-107494, overall weight: 538 kg, load capacity: 40 kg, arm reach: 2,550 mm, ABB industrial robot with IRB 4600 manipulator (variant: IRB 4600-40/2.55 Type C) and IRC5 Single controller for industrial automation applications. Condition: used and tested. Typical applications include handling, assembly, machining, and general automation. Payload: 40 kg with a reach of 2550 mm. Year of manufacture: 2018. Operating hours: 7490. Software: RobotWare RW 6.07.01.00. Equipped with an ABB FlexPendant programming device, connection cable set, and a Foundry Plus protective version with a label bearing the inscription “Foundry Plus”. Ibjdezamf Sopfx Agysc

Condition: excellent (used), Year of construction: 2004, functionality: fully functional, ABB Robotics IRB 6600 175/2.8 S4C+M2000 Robot Controller: S4C+M2000 Number of axes: 6 Max. payload: 175 kg Max. working range: 2800 mm Year of manufacture: 2004 Scope of delivery: Robot, controller, cables, teach panel, circuit diagrams Used item – shows normal signs of wear. Further details, article numbers and images available upon request. Two-week commissioning guarantee. No further warranty. In addition, spare parts are constantly available in stock. The robot is fully functional and can be inspected at any time. Free loading / ex works. The stated amount is net. The legally required value-added tax of 19% will be added at checkout. You will receive a proper invoice with the VAT shown. Collection on site in 74722 Buchen/Hainstadt. Shipping or freight costs vary depending on the number of items, weight and desired delivery conditions. Iodpjz Rk T Sjfx Agysbc Shipping costs to foreign countries upon request – please specify country, city and postal code. Freight costs upon request – please specify delivery address.

Condition: excellent (used), Year of construction: 2000, functionality: fully functional, ABB Robotics IRB 2400/16 S4C M98 robot Controller: S4C M98 Number of axes: 6 Max. payload: 16 kg Max. working range: 1550 mm Year of manufacture: 2000 Scope of delivery: Robot, controller, cables, teach panel, wiring diagrams Isdoz Rk Sbspfx Agyjbc Used item – shows normal signs of wear. Further details, article numbers and pictures available upon request. Two-week start-up guarantee. No further warranty. In addition, spare parts are constantly available in stock. The robot is fully functional and can be inspected at any time. Free loading / ex works. The stated amount is net. The legally required VAT of 19% will be added at checkout. You will receive a proper invoice with VAT shown. Collection on site in 74722 Buchen/Hainstadt. Shipping or freight costs vary depending on the number of items, weight and desired delivery conditions. Shipping costs to foreign countries on request – please specify country, city and postal code. Freight costs on request – please specify delivery address.

Condition: used, Year of construction: 2022, operating hours: 9,118 h, functionality: fully functional, machine/vehicle number: Robot: 4600-110103 / Controller: 4600-110103, overall weight: 585 kg, load capacity: 40 kg, arm reach: 2,550 mm, ABB industrial robot with IRB 4600 manipulator (variant: IRB 4600-40/2.55 Type C) and IRC5 Single controller for industrial automation applications. Condition is used and tested. Typical applications include handling, assembly, machining, and general automation. Payload is 40 kg with a reach of 2550 mm, manufactured in 2020, with 9118 operating hours, and RobotWare RW 6.10.02.00 software. Equipped with an ABB FlexPendant programming pendant, a connection cable set, and a Foundry Plus protection version with a “Foundry Plus” label. Isdpjzamcwofx Agyobc

Condition: excellent (used), Year of construction: 2003, functionality: fully functional, ABB Robotics IRB 1400 S4C + M2000 robot with rotating table and Fronius TPS 3200 welding machine, as well as Fronius torch cleaner. Number of axes: 6 Max. payload: 5 kg Max. working range: 1450 mm Year of manufacture: 2003 Scope of delivery: Robot, controller, cables, teach pendant, wiring diagrams, floppy disk drive for data backup, Fronius TPS 3200 pulse welding machine, rotating table, Fronius robot hose package. Used – shows normal signs of wear, but is fully functional. Further details, article numbers, and images available upon request. Two-week commissioning guarantee. No further warranty. In addition, spare parts are constantly available in stock. Ibjdpfxsz Rk Uie Agyjc The robot is fully functional and can be inspected on request. Free loading / ex works. The stated amount is net. The legally required value-added tax of 19% will be added at checkout. You will receive a proper invoice with the VAT shown. Collection on site in 74722 Buchen/Hainstadt. Shipping or freight costs vary depending on the quantity, weight, and desired delivery conditions. Shipping costs to foreign countries on request – please specify country, city, and postal code. Freight costs on request – please specify delivery address.

Condition: used, Year of construction: 2022, operating hours: 9,652 h, functionality: fully functional, machine/vehicle number: Robot: 4600-109931 / Controller: 4600-109931, overall weight: 585 kg, load capacity: 40 kg, arm reach: 2,550 mm, ABB industrial robot with IRB 4600 manipulator (variant: IRB 4600-40/2.55 Type C) and IRC5 Single controller for industrial automation applications. The unit is used and has been tested. Typical applications include handling, assembly, machining, and general automation. The payload is 40 kg, with a reach of 2550 mm. It was manufactured in 2020 and has 9652 operating hours. The software version is RobotWare RW 6.10.01.00. It is equipped with an ABB FlexPendant teach pendant, a connection cable set, and a Foundry Plus protective version, indicated by the “Foundry Plus” marking. Ibodszamcdjpfx Agyec

Condition: excellent (used), Year of construction: 2009, functionality: fully functional, load capacity: 180 kg, arm reach: 2,550 mm, controller model: IRC5, IRB 6600 series, with the flexible bending backwards concept, the very high wrist torque, the service friendly modular built up and the availability, significant for ABB’s robots, with focus on high production capacity, compact design and low weight, simple service and low maintenance cost. Ijdpfjwp Irtjx Agyobc Specifications Payload: 180 kg Arm Reach: 2550 mm Model Type: IRB6600 Controller: IRC5 Condition: Axis comp and controller issue Model Year: 2009 Operating Hours: 34.000h apprx. Included: Manipulator + IRC5 Control Cabin + All Wire Sets We have a dedicated team handling these robots. If you share details about your project, we can recommend the most suitable robot for your needs and provide support throughout your project. We have big range of robots in stock, and if you are considering bulk purchases, we would be happy to offer a discount. The same model is available from the same or different production years, and bulk purchases can benefit from special pricing. As PLC Merkezi EOOD, we have more than 300 robots in our inventory and deal with the brands of KUKA, ABB, FANUC and Motoman. (Source: KUKA's Website)

Year of construction: 2006, condition: used, An industrial welding robot is offered. Reach: 1450mm, payload: 5kg, operating hours: 2213h, welding power source: ESAB AristoMig 500W, max. welding current: 500A, duty cycle: 60% at 500A/100% at 400A, controller type: IRC, robot variant: 1600-5/1.45, controller: IRC. Equipment: ESAB AristoMig 500W welding power source, IRC control cabinet, linear axes/positioner tracks. Weight: approx. 500kg, overall dimensions X/Y/Z: approx. 1200mm/800mm/1600mm. An inspection is possible by arrangement. Ijdpfx Agjzy Rv Hjyobc

Condition: excellent (used), Year of construction: 2004, functionality: fully functional, ABB Robotics IRB 1400 S4C robot + M2000 with Fronius Transsynergic 4000 welding machine and TC 1000 cleaner Number of axes: 6 Ibodpfx Agoz Rk Uceyoc Max. payload: 5 kg Max. working range: 1450 mm Year of manufacture: 2004 Scope of delivery: Robot, controller, cables, teach pendant, wiring diagrams, floppy disk drive for data backup, pulse welding machine Fronius Transsynergic 4000, Fronius robot hose package. Used item – normal signs of wear and tear. Further details, article numbers and pictures available upon request. Two weeks commissioning guarantee. No further warranty. In addition, spare parts are constantly available in stock. The robot is fully functional and can be inspected at any time. Free loading / ex works. The stated amount is net. The legally required VAT of 19% will be added at checkout. You will receive a proper invoice with VAT shown. Collection on site in 74722 Buchen/Hainstadt. Shipping or freight costs vary depending on quantity, weight and desired delivery conditions. Shipping costs to foreign countries upon request – Please specify country, city and postcode. Freight costs upon request – Please specify delivery address.

Condition: excellent (used), Year of construction: 2010, functionality: fully functional, load capacity: 205 kg, arm reach: 2,550 mm, controller model: IRC5, The IRB 6640 serie is ABB Robotics latest generation of high payload, high performance industrial robots. The IRB 6640 is ideal for process applications, regardless of industry. Typical areas are for example Spot Welding, Material Handling and Machine Tending. Specifications Iedpfx Aewp N S Uegyobc Payload: 205 kg Arm Reach: 2750 mm Model Type: IRB6640 Foundry Plus Controller: IRC5 Model Year: 2010 Condition: Tested & Not Painted & Battery Changed Note: The robot has an oil-related issue. Its repairability will be checked in case of sale. Operating Hours: 34.000h apprx. Included: Manipulator + IRC5 Control Cabin + All Wire Sets + Teach Pendant We have a dedicated team handling these robots. If you share details about your project, we can recommend the most suitable robot for your needs and provide support throughout your project. We have big range of robots in stock, and if you are considering bulk purchases, we would be happy to offer a discount. The same model is available from the same or different production years, and bulk purchases can benefit from special pricing. As PLC Merkezi EOOD, we have more than 300 robots in our inventory and deal with the brands of KUKA, ABB, FANUC and Motoman.

Condition: new, Year of construction: 2024, functionality: fully functional, machine/vehicle number: 460-102150, overall weight: 960 kg, load capacity: 110 kg, arm reach: 2,400 mm, warranty duration: 6 months, Equipment: documentation/manual, For sale: brand new industrial palletizing robot. The robot is factory-new, unused, and has never been removed from its original packaging. Available immediately as it comes from an unrealized project. This is an excellent opportunity for companies seeking an efficient and reliable automation solution for their processes. Warranty: Covered by the full manufacturer’s warranty until the end of 2025. Availability: Immediate Note: The main photo is for illustration purposes. We are selling a robot packed on a pallet in its original packaging, see subsequent photos. Equipment includes: MANIPULATOR 435-107 Variant: IRB 460-110/2.4 209-202 Manipulator colour: ABB Graphite White std 287-4 Protection: Standard 803-1 Media & Communication: Parallel & Air 431-1 Connector kits Upper arm: Upper arm 239-1 Connector kits On foot: On foot 1999-1 Standard calibration method: Axis Calibration BASIC 700-3 Controller variants: Single cabinet 129-1 EC Machinery Directive: Prepared for CE and China 769-2 Mains voltage: 3x400V 752-2 Mains connection type: 6HSB 6p+PE 742-1 Mains switch: Rotary switch 708-1 Room temperature: Max 45°C 741-1 Cabinet connector protection: Connector cover 438-1 Warranty: Standard Warranty FLOOR CABLES 210-2 Manipulator cable – Length: 7 m CONTROL MODULE 701-1 FlexPendant: FlexPendant 10 m 888-3 PROFINET IO: PROFINET IO slave SW 731-1 Safety interface: Safety internal connection Ibedpfew Nn Imjx Agyec 733-1 Operator panel: Panel on cabinet 735-1 Operating mode selector: Key switch, 3 modes ROBOTWARE 685-2 RobotWare Version: RW 6 608-1 World Zones: World Zones 611-1 Path Recovery: Path Recovery 613-1 Collision Detection: Collision Detection 617-1 FlexPendant Interface: FlexPendant Interface 623-1 Multitasking: Multitasking 824-1 MultiFunction: MultiFunction

Condition: used, Year of construction: 2019, operating hours: 9,580 h, functionality: fully functional, machine/vehicle number: Robot: 4600-109272 / Controller: 4600-109272, overall weight: 570 kg, load capacity: 40 kg, arm reach: 2,550 mm, ABB industrial robot with IRB 4600 manipulator (variant: IRB 4600-40/2.55 Type C) and IRC5 Single controller for industrial automation applications. Condition: used and tested. Typical applications include handling, assembly, machining, and general automation. Payload: 40 kg with a reach of 2550 mm, manufactured in 2019, with 9580 operating hours. Equipped with ABB FlexPendant programming device, connection cable set, and Foundry Plus protection version with “Foundry Plus” marking. Iodpfxozambmj Agysbc