Installation and Commissioning

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DescriptionMenu keysI/O listFile Edit View1 Goto ...Inputs/Outputs 2 Goto Top3 Goto BottomNameValuedi1di2grip1grip2clamp3Bfeederprogno101011134(6)MenuLine indicatorCursor1 0Function keysFigure 4 Window for manual operation of input and output signals.Using the joystick, the robot can be manually jogged (moved). The user determines thespeed of this movement; large deflections of the joystick will move the robot quickly,smaller deflections will move it more slowly.The robot supports different user levels, with dedicated windows for:- Production- Programming- System setup- Service and installationOperator’s panelMotors On buttonand indicating lampOperating mode selectorEmergency stopDuty time counterFigure 5 The operating mode is selected using the operator’s panel on the controller.8 Product Specification IRB 1400 M98/BaseWare OS 3.1
DescriptionUsing a key switch, the robot can be locked in two or three different operating modesdepending on chosen mode selector:100%• Automatic mode:• Manual mode at reduced speed:• Manual mode at full speed (option):Equipped with this mode, the robot isnot approved according to ANSI/ULRunning productionProgramming and setupMax. speed: 250 mm/s (600 inches/min.)Testing at full program speedBoth the operator’s panel and the teach pendant can be mounted externally, i.e. outsidethe cabinet. The robot can then be controlled from there.The robot can be remotely controlled from a computer, PLC or from a customer’spanel, using serial communication or digital system signals.For more information on how to operate the robot, see the User’s Guide.2.4 InstallationThe robot has a standard configuration and can be operated immediately afterinstallation. Its configuration is displayed in plain language and can easily be changedusing the teach pendant. The configuration can be stored on a diskette and/ortransferred to other robots that have the same characteristics.There are two versions of IRB 1400, one for floor mounting and one for invertedmounting. An end effector, weighing a maximum of 5 kg, including payload, can bemounted on the robot’s mounting flange (axis 6). Other equipment, weighing amaximum of 10 kg, can be mounted on the rear of the upper arm.2.5 ProgrammingProgramming the robot involves choosing instructions and arguments from lists ofappropriate alternatives. Users do not need to remember the format of instructions,since they are prompted in plain English. “See and pick” is used instead of “rememberand type”.The programming environment can be easily customised using the teach pendant.- Shop floor language can be used to name programs, signals, counters, etc.- New instructions can be easily written.- The most common instructions can be collected in easy-to-use pick lists.- Positions, registers, tool data, or other data, can be created.Programs, parts of programs and any modifications can be tested immediately withouthaving to translate the program.The program is stored as a normal PC text file, which means that it can be edited usinga standard PC.Product Specification IRB 1400 M98/BaseWare OS 3.1 9
Page 1 and 2: 3HAC 2914-1M98Product On-line Manua
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Page 5 and 6: IntroductionCONTENTSPage1 How to us
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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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Safety2.4 SafetyMany safety concept
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Advanced Functions 3.13 BaseWare Op
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Ethernet Services 3.13.6 Ethernet S
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ScreenViewer 3.13.8 ScreenViewer 3.
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ArcWare 3.1Analog inputs (cont.)Vol
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SpotWare 3.14.3 SpotWare 3.1SpotWar
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SpotWare 3.1manual close gunmanual
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SpotWare Plus 3.14.4 SpotWare Plus
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GlueWare 3.1Interface signalsWhen i
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PaintWare 3.1RAPID instructions inc
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ProductsAny number of different pro
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Programming Station 3.0Editing of b
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Programming Station 3.0• Products
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Programming Station 3.0Output from
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Training Center 3.0PC System Requir
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Library 3.0ServiceLog allows the us
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Robot Lab 3.0Cycle TimeClock contro
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RobComm 3.07 FactoryWare7.1 RobComm
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RobComm 3.0Following is a brief des
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RobView 3.17.2 RobView 3.1RobView i
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RobView 3.1File managerWhen the use
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RobView 3.1In addition, also a butt
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RobView 3.1Technical specificationP
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DDE Server 2.3SCWriteThe user can a
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DDE Server 2.3DDE Server for multip
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SafetyCONTENTSPage1 General........
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SafetySafety1 GeneralThis informati
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Safety5 Safe Working ProceduresSafe
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Safety7.2 Emergency stopsAn emergen
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SafetyWhen the Hold-to-run control
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Safety8.2 Tools/workpiecesIt must b
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Safety- The external voltage connec
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To the User“Declaration by the ma
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System DescriptionCONTENTSPage1 Str
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System DescriptionStructure1 Struct
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System DescriptionStructureAxis 3Up
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System DescriptionStructure1.2 Cont
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System DescriptionStructureLithium
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System DescriptionComputer System2
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System DescriptionExternal Axes6 Ex
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Installation and CommissioningCONTE
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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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Troubleshooting Tools1.2.1 Entering
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Troubleshooting Tools2.3 Main compu
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Troubleshooting Tools2.7 Panel unit
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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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Fault tracing guide1.7 Serial Commu
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Fault tracing guide1.11 Disk DriveT
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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 3Repairs4.5 Dismantling the co
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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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Cabling and Serial Measuring boardR
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The Wrist and Axes 5 and 6Repairs7.
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The Wrist and Axes 5 and 6RepairsAx
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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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CalibrationRepairs.Figure 17 Calibr
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CalibrationRepairs1. Run the calibr
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