Installation and Commissioning

More documents

Recommendations

Info

Product Specification IRB 14002 Product Specification IRB 1400 M98/BaseWare OS 3.1
Introduction1 IntroductionThank you for your interest in the IRB 1400. This manual will give you an overviewof the characteristics and performance of the robot.IRB 1400 is a 6-axis industrial robot, designed specifically for manufacturingindustries that use flexible robot-based automation. The robot has an open structurethat is specially adapted for flexible use, and can communicate extensively withexternal systems.The robot is equipped with an operating system called BaseWare OS. BaseWare OScontrols every aspect of the robot, like motion control, development and execution ofapplication programs communication etc.The functions in this document are all included in BaseWare OS, if not otherwisespecified. For additional functionality, the robot can be equipped with optionalsoftware for application support - for example gluing and arc welding, communicationfeatures - network communication - and advanced functions such as multitasking,sensor control etc. For a complete description on optional software, see the ProductSpecification RobotWare.All the features are not described in this document. For a more complete and detaileddescription, please see the User’s Guide, RAPID Reference Manual and ProductManual, or contact your nearest ABB Flexible Automation Centre.Different robot versionsThe IRB 1400, as mentioned above, is available in two different versions:- IRB 1400, for floor mounting- IRB 1400H, for inverted mounting.How to use this manualThe characteristics of the robot are described in Chapter 2: Description.The most important technical data is listed in Chapter 3: Technical specification.Note that the sections in chapter 2 and 3 are related to each other. For example, insection 2.2 you can find an overview of safety and standards, in section 3.2 you canfind more detailed information.To make sure that you have ordered a robot with the correct functionality, seeChapter 4: Specification of Variants and Options.In Chapter 5 you will find accessories for the robot.Chapter 6 contains an Index, to make things easier to find.Product Specification IRB 1400 M98/BaseWare OS 3.1 3
Page 1 and 2: 3HAC 2914-1M98Product On-line Manua
Page 3 and 4: ABB Flexible Automation ABProduct M
Page 5 and 6: IntroductionCONTENTSPage1 How to us
Page 7 and 8: IntroductionIntroduction1 How to us
Page 9 and 10: Introduction.ABB Robotics Products
Page 11: Product Specification IRB 1400CONTE
Page 15 and 16: Description2 Description2.1 Structu
Page 17 and 18: DescriptionRestricting the working
Page 19 and 20: DescriptionUsing a key switch, the
Page 21 and 22: DescriptionEditing programsPrograms
Page 23 and 24: DescriptionThe robot has several fu
Page 25 and 26: DescriptionMotion performanceThe Qu
Page 27 and 28: Description2.9 External AxesThe rob
Page 29 and 30: Technical specification3 Technical
Page 31 and 32: Technical specification150667398475
Page 33 and 34: Technical specification3.3 Operatio
Page 35 and 36: Technical specificationProgram star
Page 37 and 38: Technical specificationMounting of
Page 39 and 40: Technical specificationWHILE Repeat
Page 41 and 42: Technical specificationATan/ATan2Co
Page 43 and 44: Technical specification3.8 Robot Mo
Page 45 and 46: Technical specificationPerformance
Page 47 and 48: Technical specification3.10 Inputs
Page 49 and 50: Technical specificationDigital outp
Page 51 and 52: Technical specification3.11 Communi
Page 53 and 54: Specification of Variants and Optio
Page 63 and 64:
Specification of Variants and Optio
Page 65 and 66:
Accessories5 AccessoriesThere is a
Page 67 and 68:
Product Specification RobotWareCONT
Page 69 and 70:
Introduction1 IntroductionRobotWare
Page 71 and 72:
Rapid Language and Environment2 Bas
Page 73 and 74:
Motion Control2.3 Motion ControlTru
Page 75 and 76:
Safety2.4 SafetyMany safety concept
Page 77 and 78:
Advanced Functions 3.13 BaseWare Op
Page 79 and 80:
Advanced Functions 3.1World ZonesA
Page 81 and 82:
Advanced Functions 3.1RAPID instruc
Page 83 and 84:
Advanced Motion 3.1Contour tracking
Page 85 and 86:
Multitasking 3.13.3 Multitasking 3.
Page 87 and 88:
FactoryWare Interface 3.1Examples o
Page 89 and 90:
Ethernet Services 3.13.6 Ethernet S
Page 91 and 92:
ScreenViewer 3.13.8 ScreenViewer 3.
Page 93 and 94:
Conveyor Tracking 3.13.9 Conveyor T
Page 95 and 96:
ArcWare 3.14 ProcessWare4.1 ArcWare
Page 97 and 98:
ArcWare 3.1Analog inputs (cont.)Vol
Page 99 and 100:
SpotWare 3.14.3 SpotWare 3.1SpotWar
Page 101 and 102:
SpotWare 3.1manual close gunmanual
Page 103 and 104:
SpotWare Plus 3.14.4 SpotWare Plus
Page 105 and 106:
GlueWare 3.1Interface signalsWhen i
Page 107 and 108:
PaintWare 3.1RAPID instructions inc
Page 109 and 110:
ProductsAny number of different pro
Page 111 and 112:
Available memory5 Memory and Docume
Page 113 and 114:
DeskWare Office 3.06 DeskWare6.1 De
Page 115 and 116:
DeskWare Office 3.0The “User Pref
Page 117 and 118:
Programming Station 3.0Editing of b
Page 119 and 120:
Programming Station 3.0• Products
Page 121 and 122:
Programming Station 3.0Output from
Page 123 and 124:
Training Center 3.0PC System Requir
Page 125 and 126:
Library 3.0ServiceLog allows the us
Page 127 and 128:
Robot Lab 3.0Cycle TimeClock contro
Page 129 and 130:
RobComm 3.07 FactoryWare7.1 RobComm
Page 131 and 132:
RobComm 3.0Following is a brief des
Page 133 and 134:
RobView 3.17.2 RobView 3.1RobView i
Page 135 and 136:
RobView 3.1File managerWhen the use
Page 137 and 138:
RobView 3.1In addition, also a butt
Page 139 and 140:
RobView 3.1Technical specificationP
Page 141 and 142:
DDE Server 2.3SCWriteThe user can a
Page 143 and 144:
DDE Server 2.3DDE Server for multip
Page 145 and 146:
SafetyCONTENTSPage1 General........
Page 147 and 148:
SafetySafety1 GeneralThis informati
Page 149 and 150:
Safety5 Safe Working ProceduresSafe
Page 151 and 152:
Safety7.2 Emergency stopsAn emergen
Page 153 and 154:
SafetyWhen the Hold-to-run control
Page 155 and 156:
Safety8.2 Tools/workpiecesIt must b
Page 157 and 158:
Safety- The external voltage connec
Page 159 and 160:
To the User“Declaration by the ma
Page 161 and 162:
System DescriptionCONTENTSPage1 Str
Page 163 and 164:
System DescriptionStructure1 Struct
Page 165 and 166:
System DescriptionStructureAxis 3Up
Page 167 and 168:
System DescriptionStructure1.2 Cont
Page 169 and 170:
System DescriptionStructureLithium
Page 171 and 172:
System DescriptionComputer System2
Page 173 and 174:
System DescriptionServo System3 Ser
Page 175 and 176:
System DescriptionI/O System4 I/O S
Page 177 and 178:
System DescriptionSafety System5 Sa
Page 179 and 180:
System DescriptionSafety System5.4
Page 181 and 182:
System DescriptionExternal Axes6 Ex
Page 183 and 184:
Installation and CommissioningCONTE
Page 185 and 186:
Installation and CommissioningCONTE
Page 187 and 188:
Installation and CommissioningTrans
Page 189 and 190:
Installation and CommissioningOn-Si
Page 191 and 192:
Page 193 and 194:
Page 195 and 196:
Page 197 and 198:
Page 199 and 200:
Page 201 and 202:
Page 203 and 204:
Page 205 and 206:
Page 207 and 208:
Page 209 and 210:
Page 211 and 212:
Page 213 and 214:
Installation and CommissioningConne
Page 215 and 216:
Page 217 and 218:
Page 219 and 220:
Page 221 and 222:
Page 223 and 224:
Page 225 and 226:
Page 227 and 228:
Page 229 and 230:
Page 231 and 232:
Page 233 and 234:
Page 235 and 236:
Page 237 and 238:
Page 239 and 240:
Page 241 and 242:
Page 243 and 244:
Page 245 and 246:
Page 247 and 248:
Page 249 and 250:
Page 251 and 252:
Page 253 and 254:
Page 255 and 256:
Page 257 and 258:
Page 259 and 260:
Page 261 and 262:
Page 263 and 264:
Page 265 and 266:
Page 267 and 268:
Installation and CommissioningInsta
Page 269 and 270:
Page 271 and 272:
Page 273 and 274:
Installation and CommissioningExter
Page 275 and 276:
Page 277 and 278:
Page 279 and 280:
Page 281 and 282:
Page 283 and 284:
Page 285 and 286:
Page 287 and 288:
Page 289 and 290:
Page 291 and 292:
Page 293 and 294:
MaintenanceCONTENTSPage1 Maintenanc
Page 295 and 296:
MaintenanceMaintenanceThe robot is
Page 297 and 298:
Maintenance2.3 Lubricating spring b
Page 299 and 300:
Maintenance2.7 Changing the battery
Page 301 and 302:
Troubleshooting ToolsCONTENTSPage1
Page 303 and 304:
Troubleshooting ToolsTroubleshootin
Page 305 and 306:
Troubleshooting Tools1.1 TestsMost
Page 307 and 308:
Troubleshooting Tools1.2.1 Entering
Page 309 and 310:
Troubleshooting Tools5. MC/ERWM RWM
Page 311 and 312:
Troubleshooting Tools5. Miscellaneo
Page 313 and 314:
Troubleshooting Tools9. Specific te
Page 315 and 316:
Troubleshooting Tools2.3 Main compu
Page 317 and 318:
Troubleshooting Tools2.6 Power supp
Page 319 and 320:
Troubleshooting Tools2.7 Panel unit
Page 321 and 322:
Troubleshooting Tools2.9 Analog I/O
Page 323 and 324:
Troubleshooting Tools2.11 Interbus-
Page 325 and 326:
Troubleshooting Tools2.13 Encoder i
Page 327 and 328:
Troubleshooting Tools2.14 Status LE
Page 329 and 330:
Troubleshooting ToolsModule- and ne
Page 331 and 332:
Troubleshooting Tools3.2 Signal des
Page 333 and 334:
Troubleshooting Tools3.3 X1 and X2
Page 335 and 336:
Troubleshooting Tools3.4.2 X9 VBATT
Page 337 and 338:
Troubleshooting Tools3.4.5 Disk dri
Page 339 and 340:
Troubleshooting Tools3.4.7 CANX9Pin
Page 341 and 342:
Fault tracing guideCONTENTSPage1 Fa
Page 343 and 344:
Fault tracing guide1 Fault tracing
Page 345 and 346:
Fault tracing guide1.4 Robot comput
Page 347 and 348:
Fault tracing guideInputs DINameAS1
Page 349 and 350:
Fault tracing guide1.7 Serial Commu
Page 351 and 352:
Fault tracing guide1.11 Disk DriveT
Page 353 and 354:
ABB Flexible Automation ABThis chap
Page 355 and 356:
RepairsCONTENTSPage7.3 Changing the
Page 357 and 358:
General DescriptionRepairsAxis 1 ro
Page 359 and 360:
General DescriptionRepairs1.2 Cauti
Page 361 and 362:
General DescriptionRepairs12. The s
Page 363 and 364:
General DescriptionRepairs1.5 Tight
Page 365 and 366:
Axis 1Repairs2.2 Changing the gearb
Page 367 and 368:
Axis 1Repairs2.4 Replacing the mech
Page 369 and 370:
Axis 2 Repairs3.2 Changing the gear
Page 371 and 372:
Axis 2 Repairs3.5 Dismantling the b
Page 373 and 374:
Axis 3Repairs4.2 Changing the gearb
Page 375 and 376:
Axis 3Repairs4.5 Dismantling the co
Page 377 and 378:
Axis 3Repairs105 oFigure 4 Calibrai
Page 379 and 380:
Axis 4 Repairs14. Connect the cabli
Page 381 and 382:
Axis 4 RepairsTo assemble:Shim betw
Page 383 and 384:
Axis 4 Repairs30 Product Manual IRB
Page 385 and 386:
Cabling and Serial Measuring boardR
Page 387 and 388:
The Wrist and Axes 5 and 6Repairs7.
Page 389 and 390:
The Wrist and Axes 5 and 6RepairsAx
Page 391 and 392:
Motor UnitsRepairs38 Product Manual
Page 393 and 394:
CalibrationRepairs5. Press Enter .6
Page 395 and 396:
CalibrationRepairs13. Release the b
Page 397 and 398:
CalibrationRepairsCalibration plate
Page 399 and 400:
CalibrationRepairs2. Select Service
Page 401 and 402:
CalibrationRepairs.Figure 17 Calibr
Page 403 and 404:
CalibrationRepairs1. Run the calibr
Page 405 and 406:
CalibrationRepairs52 Product Manual
show all

Installation and Commissioning

Create successful ePaper yourself

Delete template?

Save as template?