Installation and Commissioning

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RepairsCONTENTSPage1 General Description ........................................................................................................ 31.1 Instructions for reading the following sections ...................................................... 51.2 Caution.................................................................................................................... 61.3 Fitting new bearings and seals................................................................................ 61.3.1 Bearings ....................................................................................................... 61.3.2 Seals ............................................................................................................. 71.4 Instructions for tightening screw joints .................................................................. 91.5 Tightening torques.................................................................................................. 102 Axis 1 ................................................................................................................................ 112.1 Changing the motor of axis 1 ................................................................................. 112.2 Changing the gearbox............................................................................................. 122.3 Position indicator in axis 1 (optional)..................................................................... 132.4 Replacing the mechanical stop ............................................................................... 143 Axis 2 ................................................................................................................................ 153.1 Changing the motor of axis 2 ................................................................................. 153.2 Changing the gearbox............................................................................................. 163.3 Dismantling the lower arm ..................................................................................... 163.4 Changing the bearings in the upper arm................................................................. 173.5 Dismantling the balancing springs ......................................................................... 184 Axis 3 ................................................................................................................................ 194.1 Changing the motor of axis 3 ................................................................................. 194.2 Changing the gearbox............................................................................................. 204.3 Dismantling the parallel arm .................................................................................. 204.4 Changing the tie rod ............................................................................................... 214.5 Dismantling the complete upper arm...................................................................... 225 Axis 4 ................................................................................................................................ 255.1 Changing the motor ................................................................................................ 255.2 Changing the intermediate gear including sealing ................................................. 265.3 Dismantling the drive gear on the tubular shaft ..................................................... 275.4 Dismantling the tubular shaft and changing bearings ............................................ 296 Cabling and Serial Measuring board ............................................................................ 316.1 Changing serial measuring boards.......................................................................... 316.2 Changing the cabling in axes 1, 2 and 3................................................................. 316.3 Changing the cabling in axes 4, 5 and 6................................................................. 327 The Wrist and Axes 5 and 6 ........................................................................................... 337.1 Dismantling the wrist.............................................................................................. 337.2 Dismantling the complete drive mechanism of axes 5 and 6 ................................. 34Product Manual IRB 1400 1
RepairsCONTENTSPage7.3 Changing the motor or driving belt of axes 5 and 6............................................... 347.4 Measuring play in axes 5 and 6 .............................................................................. 358 Motor Units...................................................................................................................... 379 Calibration....................................................................................................................... 399.1 Adjustment procedure using calibration equipment (fine calibration)................... 399.2 Setting the calibration marks on the manipulator................................................... 459.3 Checking the calibration position........................................................................... 499.4 Alternative calibration positions ............................................................................ 499.5 Calibration equipment ............................................................................................ 519.6 Operating the robot................................................................................................. 512 Product Manual IRB 1400
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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 CommissioningCONTE
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Installation and CommissioningTrans
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Installation and CommissioningOn-Si
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Installation and CommissioningConne
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Installation and CommissioningInsta
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Installation and CommissioningExter
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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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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
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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
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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
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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
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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
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CalibrationRepairs52 Product Manual
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