Installation and Commissioning

Installation and CommissioningCONTENTSPage1 Transporting and Unpacking ......................................................................................... 51.1 Stability / risk of tipping......................................................................................... 51.2 System diskettes ..................................................................................................... 51.3 Transport locking device ........................................................................................ 62 On-Site Installation ......................................................................................................... 72.1 Lifting the manipulator........................................................................................... 72.2 Turning the manipulator (inverted suspension application) ................................... 92.3 Assembling the robot.............................................................................................. 102.3.1 Manipulator.................................................................................................. 102.3.2 Controller ..................................................................................................... 112.4 Suspended mounting............................................................................................... 112.5 Stress forces............................................................................................................ 122.5.1 Stiffnes ......................................................................................................... 122.5.2 IRB 1400(H) ................................................................................................ 122.6 Amount of space required....................................................................................... 132.6.1 Manipulator.................................................................................................. 132.6.2 Controller ..................................................................................................... 142.7 Manually engaging the brakes................................................................................ 152.8 Restricting the working space................................................................................. 162.8.1 Axis 1 ........................................................................................................... 162.8.2 Axis 2 ........................................................................................................... 172.8.3 Axis 3 ........................................................................................................... 182.9 Mounting holes for equipment on the manipulator ................................................ 192.10 Loads .................................................................................................................... 202.11 Connecting the controller to the manipulator ....................................................... 212.11.1 Connection on left-hand side of cabinet..................................................... 212.12 Dimensioning the safety fence ............................................................................. 212.13 Mains power connection....................................................................................... 222.13.1 Connection to the mains switch ................................................................. 222.13.2 Connection via a power socket .................................................................. 232.14 Inspection before start-up ..................................................................................... 232.15 Start-up ................................................................................................................. 242.15.1 General....................................................................................................... 242.15.2 Updating the revolution counter ................................................................ 252.15.3 Checking the calibration position .............................................................. 302.15.4 Alternative calibration positions ................................................................ 302.15.5 Operating the robot .................................................................................... 30Product Manual IRB 1400 1