Installation and Commissioning

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Connecting SignalsInstallation and Commissioning3.17 Field bus units3.17.1 RIO (Remote Input Output), remote I/O for Allen-Bradley PLC DSQC 350The RIO-unit can be programmed for 32, 64, 96 or 128 digital inputs and outputs.The RIO-unit should be connected to an Allen-Bradley PLC using a screened, two conductorcable.Technical dataSee Product Specification IRB 1400, chapter 3.10 and Allen-Bradley RIO specification.Further informationFor setup parameters, see User’s Guide, section System Parameters, Topic: Controller.Circuit diagram, see chapter 11.Customer terminals: X8 and X9X8X9Signal nameLINE1 (blue)Pin1RemoteI/O inSignal namebluePin1LINE2 (clear) 2 clear 2shield 3 shield 3cabinet ground 4 cabinet ground 4RemoteI/O outX1Device net inputand ID connectorX1POWERMSNSCAN TxCAN RxNAC STATUSX9RIO outX8X2Not to be used DSQC 350 ABB Flexible AtomationRIO inDevice Net connector X1, see section 3.16.3 on page 51Figure 45 RIO-unit72 Product Manual IRB 1400
Installation and CommissioningConnecting SignalsWhen the robot is last in a RIO loop, the loop must be terminated with a terminationresistor according to Allen-Bradley’s specification.This product incorporates a communications link which is licensed under patents and proprietary technology ofAllen-Bradley Company, Inc. Allen-Bradley Company, Inc. does not warrant or support this product. All warrantyand support services for this product are the responsibility of and provided by ABB Flexible Automation.RIO communication conceptAllen Bradleycontrol systemRobot 1 - 128 in / 128 outQuarter 1Quarter 2Quarter 3Quarter 4Rack ID 12 (example)Rack size 4Starting quarter 1128 in / 128 outRobot 2 - 64 in / 64 outQuarter 1Quarter 2Rack ID 13 (example)Rack size 2Starting quarter 164 in / 64 outRobot 3 - 64 in / 64 outQuarter 3 64 in / 64 outQuarter 4Rack ID 13 (example)Rack size 2Starting quarter 3Other systemsQuarter 1Quarter 2Quarter 3Quarter 4Figure 46 RIO communication concept - Principle diagramThe Allen Bradley system can communicate with up to 64 external systems. Each ofthese systems is called a Rack and is given a Rack Address 0-63. Basically, each robotconnected to the Allen Bradley system will occupy 1 rack.Each rack is divided into 4 sections called Quarters. Each quarter provides 32 inputsand 32 outputs and a rack will subsequently provide 128 inputs and 128 outputs.A rack may also be shared by 2, 3 or 4 robots. Each of these robots will then have thesame rack address, but different starting quarters must be specified.The illustration above shows an example where Robot 1 uses a full rack while robot 2and robot 3 share 1 rack.The rack address, starting quarter and other required parameters such as baud rate,LED Status etc. are entered in the configuration parameters.The robot may communicate with the Allen Bradley system only, or be used in combinationwith I/O system in the robot. For example, the inputs to the robot may comefrom the Allen Bradley system while the outputs from the robot control external equipmentvia general I/O addresses and the Allen Bradley system only reads the outputs asstatus signals.Product Manual IRB 1400 73
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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 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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Safety2.4 SafetyMany safety concept
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Advanced Functions 3.13 BaseWare Op
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Advanced Functions 3.1World ZonesA
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Advanced Functions 3.1RAPID instruc
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Advanced Motion 3.1Contour tracking
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Multitasking 3.13.3 Multitasking 3.
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FactoryWare Interface 3.1Examples o
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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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Conveyor Tracking 3.13.9 Conveyor T
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ArcWare 3.14 ProcessWare4.1 ArcWare
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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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DeskWare Office 3.06 DeskWare6.1 De
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DeskWare Office 3.0The “User Pref
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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 DescriptionComputer System2
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System DescriptionI/O System4 I/O S
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Installation and CommissioningCONTE
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Page 293 and 294: MaintenanceCONTENTSPage1 Maintenanc
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Troubleshooting Tools2.11 Interbus-
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Fault tracing guideCONTENTSPage1 Fa
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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 DescriptionRepairs1.5 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 3Repairs105 oFigure 4 Calibrai
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Axis 4 Repairs14. Connect the cabli
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Cabling and Serial Measuring boardR
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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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CalibrationRepairsCalibration plate
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