Installation and Commissioning

More documents

Recommendations

Info

Description2.8 Robot Motion1456119517931507165111008 144450733254105115012821507701127 12211645Axis 1 +145 o-135 oAxis 1 ± 170 oFigure 8 Working space of IRB 1400 (dimensions in mm).14 Product Specification IRB 1400 M98/BaseWare OS 3.1
DescriptionMotion performanceThe QuickMove TM concept means that a self-optimizing motion control is used.The robot automatically optimizes the servo parameters to achieve the best possibleperformance throughout the cycle - based on load properties, location in working area,velocity and direction of movement.- No parameters have to be adjusted to achieve correct path, orientation andvelocity.- Maximum acceleration is always obtained (acceleration can be reduced, e.g.when handling fragile parts).- The number of adjustments that have to be made to achieve the shortest possiblecycle time are minimized.The TrueMove TM concept means that the programmed path is followed – regardless ofthe speed or operating mode – even after an emergency stop, a safeguarded stop, aprocess stop, a program stop or a power failure.The robot can, in a controlled way, pass through singular points, i.e. points where twoaxes coincide.Coordinate systemsYTool coordinatesZYXZTool Centre Point (TCP)ZBase coordinatesXZUsercoordinatesYZObjectcoordinatesYXYWorld coordinatesXXFigure 9 The coordinate systems, used to make jogging and off-line programming easier.The world coordinate system defines a reference to the floor, which is the startingpoint for the other coordinate systems. Using this coordinate system, it is possible torelate the robot position to a fixed point in the workshop. The world coordinate systemis also very useful when two robots work together or when using a robot carrier.The base coordinate system is attached to the base mounting surface of the robot.The tool coordinate system specifies the tool’s centre point and orientation.Product Specification IRB 1400 M98/BaseWare OS 3.1 15
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 and 12: Product Specification IRB 1400CONTE
Page 13 and 14: Introduction1 IntroductionThank you
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: DescriptionThe robot has several fu
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 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

You also want an ePaper? Increase the reach of your titles

Delete template?

Save as template?