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External AxesInstallation and Commissioning5.3.3 Measurement SystemThere are two measurement system systems, 1 and 2. Each system is connected to theCPU board via a serial link. The serial link is of ring type with board 1 connected toCPU-board serial output. The last Serial Measurement Board (SMB) is connected to theCPU-board serial input.This link also supplies power to the SMB.Measurement System 1 can consist of up to two SMB, one used for the robot manipulator,the other one for one external axis, normally a track motion. The external axismust be connected to node 4 and in the configuration file be addressed as logical node7.Measurement System 2 can consist of one to four SMB boards. The board numberingalways starts with board 1. No gaps may occur in the number sequence. Every axis connectedto a measuring system must have an unique node number. While the nodenumber is the same as physical connection, the physical connection node must also beunique.Each SMB has 6 connection nodes for resolvers. A battery supplies the SMB withpower during power fail. If the axes move during power fail the internal revolutioncounters are automatically updated. After power on the system is ready for operationwithout any synchronization procedure.A special configuration can be used with no robot connected. Only Measurement System1 with one or two SMB may be used. Up to 6 external axes can be connected tothose boards. See configuration files in Figure 70.MEASUREMENT SYSTEM 1configuration files MN4M1DxRobot manipulatorMEASUREMENT SYSTEM 2configuration files MNxM2DxCPUSerialMeasurementBoard 1CPUSerialMeasurementBoard 1MeasurementSystem 2serialcommunication6 resolversSerialMeasurementBoard 21 resolvernode 4Measurementment System 1serialcommunicationSerialMeasurementBoard 2SerialMeasurementBoard 3Max 6resolvers(5 ifone axisconnected toMeasurement). System 1)SerialMeasurementBoard 4Figure 57 Measurement systems.96 Product Manual IRB 1400
Installation and CommissioningExternal AxesMEASUREMENT SYSTEM 1 (only external axes, no robot)configuration files ACxM1D1(Measurement System 2 may not be usedtogether with this configuration)CPUSerialMeasurementBoard 1SerialMeasurementBoard 2MeasurementSystem 1serialcommunicationMax 6resolversFigure 58 Measurement system 1.ResolverEach resolver contains two stators and one rotor, connected as shown in Figure 59.EXC*0v EXC** See connectiontableX*0V X*Stator XRotorStator YY*0V Y*Figure 59 Connections for resolvers.Technical dataResolverMotor to resolver gear ratioIntegrated in motor of IRB typeorart.no. 5766 388-5, size 11Resolver must be approved by ABBfor reliable operation.1:1, direct driveResolver cable length:max 30 m (X, Y for each resolver)total max 70 m for EXC signals.Product Manual IRB 1400 97
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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 specificationProgram star
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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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Available memory5 Memory and Docume
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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 DescriptionStructureLithium
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System DescriptionComputer System2
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System DescriptionServo System3 Ser
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System DescriptionI/O System4 I/O S
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System DescriptionSafety System5 Sa
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System DescriptionSafety System5.4
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System DescriptionExternal Axes6 Ex
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Installation and CommissioningCONTE
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Installation and CommissioningTrans
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Page 293 and 294: MaintenanceCONTENTSPage1 Maintenanc
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Page 297 and 298: Maintenance2.3 Lubricating spring b
Page 299 and 300: Maintenance2.7 Changing the battery
Page 301 and 302: Troubleshooting ToolsCONTENTSPage1
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Troubleshooting ToolsModule- and ne
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Troubleshooting Tools3.3 X1 and X2
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Troubleshooting Tools3.4.2 X9 VBATT
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Troubleshooting Tools3.4.7 CANX9Pin
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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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Axis 4 Repairs30 Product Manual IRB
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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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Installation and Commissioning

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