Installation and Commissioning

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Connecting SignalsInstallation and Commissioning3.11 External safety relayThe Motor On/Off mode in the controller can operate with external equipment if externalrelays are used. Two examples are shown below.Panel unitRelays with positive actionExt MON 2CONT224 VX2:6X2:5X4:20 VK2X4:1X3:2K1Ext MON 10 VCONT1X3:1X1:5X1:624 VRobot 1 Robot 2(only one channel displayed)ExternalsupplyASGSASGSES outES outExternalsupplyCell ESSafety relaySafety gateTo otherequipmentFigure 36 Diagram for using external safety relays.46 Product Manual IRB 1400
Installation and CommissioningConnecting Signals3.12 Safeguarded space stop signalsAccording to the safety standard ISO/DIS 11161 “Industrial automation systems -safety of integrated manufacturing systems - Basic requirements”, there are two categoriesof safety stops, category 0 and category 1, see below:The category 0 stop is to be used when, for safety analysis purposes, the power supply tothe motors must be switched off immediately, such as when a light curtain, used to protectagainst entry into the work cell, is passed. This uncontrolled motion stop may require specialrestart routines if the programmed path changes as a result of the stop.Category 1 is to be preferred, if accepted for safety analysis purposes, such as whengates are used to protect against entry into the work cell. This controlled motion stoptakes place within the programmed path, which makes restarting easier.3.12.1 Delayed safeguarded space stopAll the robot’s safety stops are as default category 0 stops.Safety stops of category 1 can be obtained by activating the delayed safeguarded spacestop together with AS or GS. A delayed stop gives a smooth stop. The robot stops inthe same way as a normal program stop with no deviation from the programmed path.After approx. 1 second the power supply to the motors is shut off. The function is activatedby setting a parameter, see User’s Guide, section System Parameters, Topic:Controller.Note! To ensure MOTORS OFF status, the activating switch must be kept openfor more than one second. If the switch is closed within the delay, the robot stopsand will remain in MOTORS ON mode.3.13 Available voltage3.13.1 24 V I/O supplyThe robot has a 24 V supply available for external and internal use.This voltage is used in the robot for supplying the drive unit fans and the manipulatorbrakes.The 24 V I/O is not galvanically separated from the rest of the controller voltages.Technical dataVoltage24.0 - 26.4 VRippleMax. 0.2 VPermitted customer load Max. 6 A (7.5 A if DSQC 374)Current limit Max. 18 A (12 A if DSQC 374)Short-circuit current Max. 13 A (average value)(~ 0 A if DSQC 374)Product Manual IRB 1400 47
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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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Description2.9 External AxesThe rob
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Technical specification3 Technical
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Technical specification150667398475
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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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Safety2.4 SafetyMany safety concept
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Advanced Functions 3.13 BaseWare Op
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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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ProductsAny number of different pro
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Programming Station 3.0Editing of b
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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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DDE Server 2.3SCWriteThe user can a
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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 DescriptionComputer System2
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System DescriptionI/O System4 I/O S
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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 Tools1.1 TestsMost
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Fault tracing guideCONTENTSPage1 Fa
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RepairsCONTENTSPage7.3 Changing the
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Axis 1Repairs2.2 Changing the gearb
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Motor UnitsRepairs38 Product Manual
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CalibrationRepairs5. Press Enter .6
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CalibrationRepairsCalibration plate
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