Installation and Commissioning

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Robot Lab 3.06.5 Robot Lab 3.0Robot Lab includes a PC software application intended to assist the user in testing robotprograms.Robot Lab includes:- VirtualRobot application.VirtualRobot simulates ABB S4 robots on desktop computers. VirtualRobot can beused to test robot programs without having to occupy a real robot system.The VirtualRobot application consists of three windows: the Teach Pendant, the I/OSimulator, and the Robot View. The Teach Pendant window simulates the S4 ControllerTeach Pendant, the I/O Simulator window permits user manipulation of digital I/Osignals, and the Robot View allows the user to observe the motion of the VirtualRobotas it executes robot programs. The user may choose to run VirtualRobot with or withoutthe I/O Simulator and Robot View.The VirtualRobot application assumes the functionality of the embedded S4 controllerand can be configured with various memory and software options just like a real S4controller using the Preferences dialog. Configuration includes, for example, thesoftware options available to the controller (ArcWare, SpotWare, Serial RAP, etc.), therobot model (IRB1400H CEILING/DCLinkB, IRB6400C/B-150, etc.), the amount ofmemory installed in the controller (10MB, 12MB, etc.), and several other parameters.It should be noted that the VirtualRobot is only available for robot controller versions2.1 and later. However, it is possible to test many programs for earlier controllerversions using VirtualRobot version 2.1.Robot Lab includes predefined configurations of the controller. The Preferences dialogcan be used to select among defined configurations and to create entirely newconfigurations through user-assisted dialogs or direct import of configuration data fromthe floppy disks shipped with the robot.The VirtualRobot I/O Simulator can be used to view and manipulate digital input andoutput signals during program execution. This feature is useful for testing robotprograms that may set outputs or wait on certain input states before continuing. TheVirtualRobot I/O Simulator automatically configures itself with the I/O boards andsignals used by the selected robot.In addition to dynamically displaying robot motion, the Robot View window includesa cycle time clock that displays time computed internally by the robot control systemto provide an estimate of cycle time for the real robot.This estimate does not contain settling time at fine points. By adding 200 ms per finepoint, the cycle time accuracy will normally be within ±2 %.The image below illustrates some features of the Robot View window.60 Product Specification RobotWare for BaseWare OS 3.1
Robot Lab 3.0Cycle TimeClock controlsDynamic displayof robot in motionThumbwheels allow usercontrol over 3-D viewing.PC System Requirements- Pentium processor.- 8 MB RAM memory minimum, for Windows 95; 16 MB RAM for WindowsNT (32 MB RAM recommended).- Windows 95 or Windows NT 4.0.- 100 MB harddisk space.- VGA compatible display (1024 x 768 recommended).- CD-ROM drive.- Microsoft compatible mouse.Product Specification RobotWare for BaseWare OS 3.1 61
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3HAC 2914-1M98Product On-line Manua
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ABB Flexible Automation ABProduct M
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IntroductionCONTENTSPage1 How to us
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IntroductionIntroduction1 How to us
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Introduction.ABB Robotics Products
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Product Specification IRB 1400CONTE
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Introduction1 IntroductionThank you
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Description2 Description2.1 Structu
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DescriptionRestricting the working
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DescriptionUsing a key switch, the
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DescriptionEditing programsPrograms
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DescriptionThe robot has several fu
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DescriptionMotion performanceThe Qu
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Description2.9 External AxesThe rob
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Technical specification3 Technical
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Technical specification150667398475
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Technical specification3.3 Operatio
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Technical specificationProgram star
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Technical specificationMounting of
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Technical specificationWHILE Repeat
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Technical specificationATan/ATan2Co
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Technical specification3.8 Robot Mo
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Technical specificationPerformance
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Technical specification3.10 Inputs
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Technical specificationDigital outp
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Technical specification3.11 Communi
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Specification of Variants and Optio
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Accessories5 AccessoriesThere is a
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Product Specification RobotWareCONT
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Introduction1 IntroductionRobotWare
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Rapid Language and Environment2 Bas
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Motion Control2.3 Motion ControlTru
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Installation and CommissioningCONTE
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Installation and CommissioningCONTE
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Installation and CommissioningTrans
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MaintenanceCONTENTSPage1 Maintenanc
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MaintenanceMaintenanceThe robot is
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Maintenance2.3 Lubricating spring b
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Maintenance2.7 Changing the battery
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Troubleshooting ToolsCONTENTSPage1
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Troubleshooting ToolsTroubleshootin
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Troubleshooting Tools1.1 TestsMost
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Fault tracing guideCONTENTSPage1 Fa
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Fault tracing guide1 Fault tracing
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Fault tracing guide1.4 Robot comput
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Fault tracing guideInputs DINameAS1
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ABB Flexible Automation ABThis chap
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RepairsCONTENTSPage7.3 Changing the
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General DescriptionRepairsAxis 1 ro
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General DescriptionRepairs1.2 Cauti
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General DescriptionRepairs12. The s
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General DescriptionRepairs1.5 Tight
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Axis 1Repairs2.2 Changing the gearb
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Axis 1Repairs2.4 Replacing the mech
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Axis 2 Repairs3.2 Changing the gear
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Axis 2 Repairs3.5 Dismantling the b
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Axis 3Repairs4.2 Changing the gearb
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Axis 3Repairs105 oFigure 4 Calibrai
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Axis 4 Repairs14. Connect the cabli
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Axis 4 RepairsTo assemble:Shim betw
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The Wrist and Axes 5 and 6Repairs7.
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Motor UnitsRepairs38 Product Manual
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CalibrationRepairs5. Press Enter .6
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CalibrationRepairs13. Release the b
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CalibrationRepairsCalibration plate
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CalibrationRepairs2. Select Service
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